2 Copyright (C) 1996-1997 Id Software, Inc.
4 This program is free software; you can redistribute it and/or
5 modify it under the terms of the GNU General Public License
6 as published by the Free Software Foundation; either version 2
7 of the License, or (at your option) any later version.
9 This program is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
13 See the GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program; if not, write to the Free Software
17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
20 // world.c -- world query functions
23 #include "clvm_cmds.h"
24 #include "cl_collision.h"
28 entities never clip against themselves, or their owner
30 line of sight checks trace->inopen and trace->inwater, but bullets don't
34 static void World_Physics_Init(void);
41 static void World_Physics_Shutdown(void);
42 void World_Shutdown(void)
44 World_Physics_Shutdown();
47 static void World_Physics_Start(world_t *world);
48 void World_Start(world_t *world)
50 World_Physics_Start(world);
53 static void World_Physics_End(world_t *world);
54 void World_End(world_t *world)
56 World_Physics_End(world);
59 //============================================================================
61 /// World_ClearLink is used for new headnodes
62 void World_ClearLink (link_t *l)
65 l->prev = l->next = l;
68 void World_RemoveLink (link_t *l)
70 l->next->prev = l->prev;
71 l->prev->next = l->next;
74 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
76 l->entitynumber = entitynumber;
78 l->prev = before->prev;
84 ===============================================================================
88 ===============================================================================
91 void World_PrintAreaStats(world_t *world, const char *worldname)
93 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);
94 world->areagrid_stats_calls = 0;
95 world->areagrid_stats_nodechecks = 0;
96 world->areagrid_stats_entitychecks = 0;
105 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
109 strlcpy(world->filename, filename, sizeof(world->filename));
110 VectorCopy(mins, world->mins);
111 VectorCopy(maxs, world->maxs);
113 // the areagrid_marknumber is not allowed to be 0
114 if (world->areagrid_marknumber < 1)
115 world->areagrid_marknumber = 1;
116 // choose either the world box size, or a larger box to ensure the grid isn't too fine
117 world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
118 world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
119 world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
120 // figure out the corners of such a box, centered at the center of the world box
121 world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
122 world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
123 world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
124 world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
125 world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
126 world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
127 // now calculate the actual useful info from that
128 VectorNegate(world->areagrid_mins, world->areagrid_bias);
129 world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
130 world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
131 world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
132 World_ClearLink(&world->areagrid_outside);
133 for (i = 0;i < AREA_GRIDNODES;i++)
134 World_ClearLink(&world->areagrid[i]);
135 if (developer_extra.integer)
136 Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
145 void World_UnlinkAll(world_t *world)
149 // unlink all entities one by one
150 grid = &world->areagrid_outside;
151 while (grid->next != grid)
152 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
153 for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
154 while (grid->next != grid)
155 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
163 void World_UnlinkEdict(prvm_edict_t *ent)
166 for (i = 0;i < ENTITYGRIDAREAS;i++)
168 if (ent->priv.server->areagrid[i].prev)
170 World_RemoveLink (&ent->priv.server->areagrid[i]);
171 ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
176 int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
182 vec3_t paddedmins, paddedmaxs;
183 int igrid[3], igridmins[3], igridmaxs[3];
185 VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
186 VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
188 // FIXME: if areagrid_marknumber wraps, all entities need their
189 // ent->priv.server->areagridmarknumber reset
190 world->areagrid_stats_calls++;
191 world->areagrid_marknumber++;
192 igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
193 igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
194 //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
195 igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
196 igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
197 //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
198 igridmins[0] = max(0, igridmins[0]);
199 igridmins[1] = max(0, igridmins[1]);
200 //igridmins[2] = max(0, igridmins[2]);
201 igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
202 igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
203 //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
205 // paranoid debugging
206 //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
209 // add entities not linked into areagrid because they are too big or
210 // outside the grid bounds
211 if (world->areagrid_outside.next)
213 grid = &world->areagrid_outside;
214 for (l = grid->next;l != grid;l = l->next)
216 ent = PRVM_EDICT_NUM(l->entitynumber);
217 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
219 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
220 if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
222 if (numlist < maxlist)
226 world->areagrid_stats_entitychecks++;
230 // add grid linked entities
231 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
233 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
234 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
238 for (l = grid->next;l != grid;l = l->next)
240 ent = PRVM_EDICT_NUM(l->entitynumber);
241 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
243 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
244 if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
246 if (numlist < maxlist)
250 //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]);
252 world->areagrid_stats_entitychecks++;
260 void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
263 int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
265 if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
267 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);
271 igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
272 igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
273 //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
274 igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
275 igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
276 //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
277 if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
279 // wow, something outside the grid, store it as such
280 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
285 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
287 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
288 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
289 World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
299 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
301 // unlink from old position first
302 if (ent->priv.server->areagrid[0].prev)
303 World_UnlinkEdict(ent);
305 // don't add the world
306 if (ent == prog->edicts)
309 // don't add free entities
310 if (ent->priv.server->free)
313 VectorCopy(mins, ent->priv.server->areamins);
314 VectorCopy(maxs, ent->priv.server->areamaxs);
315 World_LinkEdict_AreaGrid(world, ent);
321 //============================================================================
322 // physics engine support
323 //============================================================================
326 # define ODE_DYNAMIC 1
329 #if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
334 cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
335 cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
336 cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
337 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
338 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
339 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
340 cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
341 cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
342 cvar_t physics_ode_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"};
343 cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.005", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
344 cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.01", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
345 cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.005", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
346 cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.01", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
347 cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
348 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
349 cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "1", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"};
350 cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
351 cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
352 cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
353 cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.2", "body will be disabled if it's linear move below this value"};
354 cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "0.3", "body will be disabled if it's angular move below this value"};
355 cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
356 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, be aware that behavior depends of step type"};
357 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
358 cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"};
359 cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
360 cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
362 // LordHavoc: this large chunk of definitions comes from the ODE library
369 // ODE does not use WINAPI
375 // note: dynamic builds of ODE tend to be double precision, this is not used
377 typedef double dReal;
379 typedef dReal dVector3[4];
380 typedef dReal dVector4[4];
381 typedef dReal dMatrix3[4*3];
382 typedef dReal dMatrix4[4*4];
383 typedef dReal dMatrix6[8*6];
384 typedef dReal dQuaternion[4];
386 struct dxWorld; /* dynamics world */
387 struct dxSpace; /* collision space */
388 struct dxBody; /* rigid body (dynamics object) */
389 struct dxGeom; /* geometry (collision object) */
393 struct dxTriMeshData;
395 #define dInfinity 3.402823466e+38f
397 typedef struct dxWorld *dWorldID;
398 typedef struct dxSpace *dSpaceID;
399 typedef struct dxBody *dBodyID;
400 typedef struct dxGeom *dGeomID;
401 typedef struct dxJoint *dJointID;
402 typedef struct dxJointGroup *dJointGroupID;
403 typedef struct dxTriMeshData *dTriMeshDataID;
405 typedef struct dJointFeedback
407 dVector3 f1; /* force applied to body 1 */
408 dVector3 t1; /* torque applied to body 1 */
409 dVector3 f2; /* force applied to body 2 */
410 dVector3 t2; /* torque applied to body 2 */
414 typedef enum dJointType
434 #define D_ALL_PARAM_NAMES(start) \
435 /* parameters for limits and motors */ \
436 dParamLoStop = start, \
445 /* parameters for suspension */ \
446 dParamSuspensionERP, \
447 dParamSuspensionCFM, \
450 #define D_ALL_PARAM_NAMES_X(start,x) \
451 /* parameters for limits and motors */ \
452 dParamLoStop ## x = start, \
456 dParamFudgeFactor ## x, \
459 dParamStopERP ## x, \
460 dParamStopCFM ## x, \
461 /* parameters for suspension */ \
462 dParamSuspensionERP ## x, \
463 dParamSuspensionCFM ## x, \
468 D_ALL_PARAM_NAMES_X(0x100,2)
469 D_ALL_PARAM_NAMES_X(0x200,3)
471 /* add a multiple of this constant to the basic parameter numbers to get
472 * the parameters for the second, third etc axes.
488 dContactFDir1 = 0x002,
489 dContactBounce = 0x004,
490 dContactSoftERP = 0x008,
491 dContactSoftCFM = 0x010,
492 dContactMotion1 = 0x020,
493 dContactMotion2 = 0x040,
494 dContactMotionN = 0x080,
495 dContactSlip1 = 0x100,
496 dContactSlip2 = 0x200,
498 dContactApprox0 = 0x0000,
499 dContactApprox1_1 = 0x1000,
500 dContactApprox1_2 = 0x2000,
501 dContactApprox1 = 0x3000
504 typedef struct dSurfaceParameters
506 /* must always be defined */
510 /* only defined if the corresponding flag is set in mode */
516 dReal motion1,motion2,motionN;
518 } dSurfaceParameters;
520 typedef struct dContactGeom
522 dVector3 pos; ///< contact position
523 dVector3 normal; ///< normal vector
524 dReal depth; ///< penetration depth
525 dGeomID g1,g2; ///< the colliding geoms
526 int side1,side2; ///< (to be documented)
530 typedef struct dContact
532 dSurfaceParameters surface;
538 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
541 // Order XZY or ZXY usually works best, if your Y is up.
542 #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
543 #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
544 #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
545 #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
546 #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
547 #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
549 //const char* (ODE_API *dGetConfiguration)(void);
550 int (ODE_API *dCheckConfiguration)( const char* token );
551 int (ODE_API *dInitODE)(void);
552 //int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
553 //int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
554 //void (ODE_API *dCleanupODEAllDataForThread)(void);
555 void (ODE_API *dCloseODE)(void);
557 //int (ODE_API *dMassCheck)(const dMass *m);
558 //void (ODE_API *dMassSetZero)(dMass *);
559 //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);
560 //void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
561 void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
562 //void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
563 void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
564 //void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
565 void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
566 //void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
567 void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
568 //void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
569 //void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
570 //void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
571 //void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
572 //void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
573 //void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
575 dWorldID (ODE_API *dWorldCreate)(void);
576 void (ODE_API *dWorldDestroy)(dWorldID world);
577 void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
578 void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
579 void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
580 //dReal (ODE_API *dWorldGetERP)(dWorldID);
581 void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
582 //dReal (ODE_API *dWorldGetCFM)(dWorldID);
583 //void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
584 //void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
585 void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
586 void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
587 //int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
588 //void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
589 //dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
590 //void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
591 //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
592 void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
593 //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
594 //void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
595 //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
596 //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
597 //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
598 void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
599 //dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
600 void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
601 //dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
602 //void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
603 //dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
604 //void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
605 //int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
606 void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
607 //int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
608 void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
609 //dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
610 void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
611 //int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
612 void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
613 //dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
614 void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
615 //dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
616 void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
617 //dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
618 void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
619 //dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
620 void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
621 //void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
622 //dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
623 //void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
624 //dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
625 //void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
626 //dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
627 //void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
628 //int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
629 //void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
630 //int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
631 //void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
632 //dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
633 //void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
634 //int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
635 //void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
636 //void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
637 //dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
638 dBodyID (ODE_API *dBodyCreate)(dWorldID);
639 void (ODE_API *dBodyDestroy)(dBodyID);
640 void (ODE_API *dBodySetData)(dBodyID, void *data);
641 void * (ODE_API *dBodyGetData)(dBodyID);
642 void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
643 void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
644 //void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
645 void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
646 void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
647 const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
648 //void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
649 const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
650 //void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
651 //const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
652 //void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
653 const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
654 const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
655 void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
656 //void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
657 //void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
658 //void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
659 //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
660 void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
661 //void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
662 void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
663 //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
664 //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
665 //const dReal * (ODE_API *dBodyGetForce)(dBodyID);
666 //const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
667 //void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
668 //void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
669 //void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
670 //void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
671 //void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
672 //void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
673 //void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
674 //void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
675 //void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
676 //void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
677 //int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
678 //void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
679 int (ODE_API *dBodyGetNumJoints)(dBodyID b);
680 dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
681 //void (ODE_API *dBodySetDynamic)(dBodyID);
682 //void (ODE_API *dBodySetKinematic)(dBodyID);
683 //int (ODE_API *dBodyIsKinematic)(dBodyID);
684 void (ODE_API *dBodyEnable)(dBodyID);
685 void (ODE_API *dBodyDisable)(dBodyID);
686 int (ODE_API *dBodyIsEnabled)(dBodyID);
687 void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
688 int (ODE_API *dBodyGetGravityMode)(dBodyID b);
689 //void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
690 //dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
691 //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
692 //void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
693 //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
694 //void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
695 //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
696 //void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
697 //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
698 //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
699 //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
700 //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
701 //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
702 //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
703 //void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
704 //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
705 //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
706 dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
707 dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
708 dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
709 dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
710 dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
711 dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
712 //dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
713 //dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
714 //dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
715 dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
716 //dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
717 //dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
718 //dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
719 //dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
720 void (ODE_API *dJointDestroy)(dJointID);
721 dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
722 void (ODE_API *dJointGroupDestroy)(dJointGroupID);
723 void (ODE_API *dJointGroupEmpty)(dJointGroupID);
724 //int (ODE_API *dJointGetNumBodies)(dJointID);
725 void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
726 //void (ODE_API *dJointEnable)(dJointID);
727 //void (ODE_API *dJointDisable)(dJointID);
728 //int (ODE_API *dJointIsEnabled)(dJointID);
729 void (ODE_API *dJointSetData)(dJointID, void *data);
730 void * (ODE_API *dJointGetData)(dJointID);
731 //dJointType (ODE_API *dJointGetType)(dJointID);
732 dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
733 //void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
734 //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
735 void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
736 //void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
737 void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
738 void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
739 //void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
740 void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
741 //void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
742 void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
743 //void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
744 void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
745 //void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
746 void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
747 //void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
748 void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
749 void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
750 void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
751 void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
752 //void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
753 void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
754 void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
755 //void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
756 void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
757 //void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
758 void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
759 //void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
760 //void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
761 //void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
762 //void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
763 //void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
764 //void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
765 //void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
766 //void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
767 //void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
768 //void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
769 //void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
770 //void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
771 //void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
772 //void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
773 //void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
774 //void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
775 //void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
776 //void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
777 //void (ODE_API *dJointSetFixed)(dJointID);
778 //void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
779 //void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
780 //void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
781 //void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
782 //void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
783 //void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
784 //void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
785 //void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
786 //void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
787 //void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
788 //void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
789 //void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
790 //void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
791 //void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
792 //void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
793 //dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
794 //void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
795 //void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
796 //void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
797 //dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
798 //dReal (ODE_API *dJointGetHingeAngle)(dJointID);
799 //dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
800 //dReal (ODE_API *dJointGetSliderPosition)(dJointID);
801 //dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
802 //void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
803 //dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
804 //void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
805 //void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
806 //void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
807 //void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
808 //dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
809 //dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
810 //dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
811 //dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
812 //void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
813 //void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
814 //void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
815 //void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
816 //dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
817 //void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
818 //dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
819 //dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
820 //dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
821 //dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
822 //void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
823 //dReal (ODE_API *dJointGetPRPosition)(dJointID);
824 //dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
825 //dReal (ODE_API *dJointGetPRAngle)(dJointID);
826 //dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
827 //void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
828 //void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
829 //dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
830 //void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
831 //dReal (ODE_API *dJointGetPUPosition)(dJointID);
832 //dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
833 //void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
834 //void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
835 //void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
836 //void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
837 //void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
838 //dReal (ODE_API *dJointGetPUAngle1)(dJointID);
839 //dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
840 //dReal (ODE_API *dJointGetPUAngle2)(dJointID);
841 //dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
842 //dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
843 //dReal (ODE_API *dJointGetPistonPosition)(dJointID);
844 //dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
845 //dReal (ODE_API *dJointGetPistonAngle)(dJointID);
846 //dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
847 //void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
848 //void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
849 //void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
850 //dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
851 //int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
852 //void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
853 //int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
854 //dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
855 //dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
856 //dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
857 //int (ODE_API *dJointGetAMotorMode)(dJointID);
858 //int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
859 //void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
860 //dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
861 //dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
862 //dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
863 //int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
864 int (ODE_API *dAreConnected)(dBodyID, dBodyID);
865 int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
867 dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
868 dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
869 dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
870 //dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
871 void (ODE_API *dSpaceDestroy)(dSpaceID);
872 //void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
873 //void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
874 //void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
875 //int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
876 //void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
877 //int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
878 //void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
879 //int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
880 //void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
881 //void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
882 //int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
883 //void (ODE_API *dSpaceClean)(dSpaceID);
884 //int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
885 //dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
886 //int (ODE_API *dSpaceGetClass)(dSpaceID space);
888 void (ODE_API *dGeomDestroy)(dGeomID geom);
889 void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
890 void * (ODE_API *dGeomGetData)(dGeomID geom);
891 void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
892 dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
893 void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
894 void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
895 //void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
896 //const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
897 //void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
898 //const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
899 //void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
900 //void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
901 //void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
902 int (ODE_API *dGeomIsSpace)(dGeomID geom);
903 //dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
904 //int (ODE_API *dGeomGetClass)(dGeomID geom);
905 //void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
906 //void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
907 //unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
908 //unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
909 //void (ODE_API *dGeomEnable)(dGeomID geom);
910 //void (ODE_API *dGeomDisable)(dGeomID geom);
911 //int (ODE_API *dGeomIsEnabled)(dGeomID geom);
912 //void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
913 //void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
914 //void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
915 //void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
916 //void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
917 //void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
918 //void (ODE_API *dGeomClearOffset)(dGeomID geom);
919 //int (ODE_API *dGeomIsOffset)(dGeomID geom);
920 //const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
921 //void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
922 //const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
923 //void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
924 //void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
925 int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
927 void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
928 void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
930 dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
931 //void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
932 //dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
933 //dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
935 //dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
936 //void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
938 dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
939 //void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
940 //void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
941 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
942 //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
944 //dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
945 //void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
946 //void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
947 //dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
949 dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
950 //void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
951 //void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
952 //dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
954 dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
955 //void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
956 //void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
958 //dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
959 //void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
960 //dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
961 //void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
962 //void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
964 dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
965 void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
966 //dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
967 void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
968 //int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
969 //void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
970 //int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
972 enum { TRIMESH_FACE_NORMALS };
973 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
974 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
975 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
976 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
978 dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
979 void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
980 //void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
981 //void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
982 //void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
983 //dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
984 void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
985 //void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
986 //void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
987 //void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
988 //void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
989 //void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
990 //void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
991 //void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
992 //void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
993 //void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
994 //dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
995 //void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
996 //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
997 //void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
998 //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
999 //void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
1000 //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
1001 dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
1002 //void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
1003 //dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
1004 //void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
1005 //int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
1006 //void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
1007 //dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
1008 //void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
1009 //void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
1010 //int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
1011 //void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
1013 static dllfunction_t odefuncs[] =
1015 // {"dGetConfiguration", (void **) &dGetConfiguration},
1016 {"dCheckConfiguration", (void **) &dCheckConfiguration},
1017 {"dInitODE", (void **) &dInitODE},
1018 // {"dInitODE2", (void **) &dInitODE2},
1019 // {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
1020 // {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
1021 {"dCloseODE", (void **) &dCloseODE},
1022 // {"dMassCheck", (void **) &dMassCheck},
1023 // {"dMassSetZero", (void **) &dMassSetZero},
1024 // {"dMassSetParameters", (void **) &dMassSetParameters},
1025 // {"dMassSetSphere", (void **) &dMassSetSphere},
1026 {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
1027 // {"dMassSetCapsule", (void **) &dMassSetCapsule},
1028 {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
1029 // {"dMassSetCylinder", (void **) &dMassSetCylinder},
1030 {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
1031 // {"dMassSetBox", (void **) &dMassSetBox},
1032 {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
1033 // {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
1034 // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
1035 // {"dMassAdjust", (void **) &dMassAdjust},
1036 // {"dMassTranslate", (void **) &dMassTranslate},
1037 // {"dMassRotate", (void **) &dMassRotate},
1038 // {"dMassAdd", (void **) &dMassAdd},
1040 {"dWorldCreate", (void **) &dWorldCreate},
1041 {"dWorldDestroy", (void **) &dWorldDestroy},
1042 {"dWorldSetGravity", (void **) &dWorldSetGravity},
1043 {"dWorldGetGravity", (void **) &dWorldGetGravity},
1044 {"dWorldSetERP", (void **) &dWorldSetERP},
1045 // {"dWorldGetERP", (void **) &dWorldGetERP},
1046 {"dWorldSetCFM", (void **) &dWorldSetCFM},
1047 // {"dWorldGetCFM", (void **) &dWorldGetCFM},
1048 // {"dWorldStep", (void **) &dWorldStep},
1049 // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
1050 {"dWorldQuickStep", (void **) &dWorldQuickStep},
1051 {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
1052 // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
1053 // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
1054 // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
1055 // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
1056 // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
1057 {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
1058 // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
1059 // {"dWorldStepFast1", (void **) &dWorldStepFast1},
1060 // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
1061 // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
1062 // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
1063 {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
1064 // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
1065 {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
1066 // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
1067 // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
1068 // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1069 // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1070 // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
1071 {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
1072 // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
1073 {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
1074 // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
1075 {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
1076 // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
1077 {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
1078 // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
1079 {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
1080 // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
1081 {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
1082 // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
1083 {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
1084 // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
1085 {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
1086 // {"dWorldSetDamping", (void **) &dWorldSetDamping},
1087 // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
1088 // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
1089 // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
1090 // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
1091 // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
1092 // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
1093 // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
1094 // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
1095 // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
1096 // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
1097 // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
1098 // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
1099 // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
1100 // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
1101 // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
1102 // {"dBodyGetWorld", (void **) &dBodyGetWorld},
1103 {"dBodyCreate", (void **) &dBodyCreate},
1104 {"dBodyDestroy", (void **) &dBodyDestroy},
1105 {"dBodySetData", (void **) &dBodySetData},
1106 {"dBodyGetData", (void **) &dBodyGetData},
1107 {"dBodySetPosition", (void **) &dBodySetPosition},
1108 {"dBodySetRotation", (void **) &dBodySetRotation},
1109 // {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
1110 {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
1111 {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
1112 {"dBodyGetPosition", (void **) &dBodyGetPosition},
1113 // {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
1114 {"dBodyGetRotation", (void **) &dBodyGetRotation},
1115 // {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
1116 // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
1117 // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
1118 {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
1119 {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
1120 {"dBodySetMass", (void **) &dBodySetMass},
1121 // {"dBodyGetMass", (void **) &dBodyGetMass},
1122 // {"dBodyAddForce", (void **) &dBodyAddForce},
1123 // {"dBodyAddTorque", (void **) &dBodyAddTorque},
1124 // {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
1125 {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
1126 // {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
1127 {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
1128 // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
1129 // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
1130 // {"dBodyGetForce", (void **) &dBodyGetForce},
1131 // {"dBodyGetTorque", (void **) &dBodyGetTorque},
1132 // {"dBodySetForce", (void **) &dBodySetForce},
1133 // {"dBodySetTorque", (void **) &dBodySetTorque},
1134 // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
1135 // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
1136 // {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
1137 // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
1138 // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
1139 // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
1140 // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
1141 // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
1142 // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
1143 // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
1144 {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
1145 {"dBodyGetJoint", (void **) &dBodyGetJoint},
1146 // {"dBodySetDynamic", (void **) &dBodySetDynamic},
1147 // {"dBodySetKinematic", (void **) &dBodySetKinematic},
1148 // {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
1149 {"dBodyEnable", (void **) &dBodyEnable},
1150 {"dBodyDisable", (void **) &dBodyDisable},
1151 {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
1152 {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
1153 {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
1154 // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
1155 // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
1156 // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
1157 // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
1158 // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
1159 // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
1160 // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
1161 // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
1162 // {"dBodySetDamping", (void **) &dBodySetDamping},
1163 // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
1164 // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
1165 // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
1166 // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
1167 // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
1168 // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
1169 // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
1170 // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
1171 {"dJointCreateBall", (void **) &dJointCreateBall},
1172 {"dJointCreateHinge", (void **) &dJointCreateHinge},
1173 {"dJointCreateSlider", (void **) &dJointCreateSlider},
1174 {"dJointCreateContact", (void **) &dJointCreateContact},
1175 {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
1176 {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
1177 // {"dJointCreatePR", (void **) &dJointCreatePR},
1178 // {"dJointCreatePU", (void **) &dJointCreatePU},
1179 // {"dJointCreatePiston", (void **) &dJointCreatePiston},
1180 {"dJointCreateFixed", (void **) &dJointCreateFixed},
1181 // {"dJointCreateNull", (void **) &dJointCreateNull},
1182 // {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
1183 // {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
1184 // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
1185 {"dJointDestroy", (void **) &dJointDestroy},
1186 {"dJointGroupCreate", (void **) &dJointGroupCreate},
1187 {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
1188 {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
1189 // {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
1190 {"dJointAttach", (void **) &dJointAttach},
1191 // {"dJointEnable", (void **) &dJointEnable},
1192 // {"dJointDisable", (void **) &dJointDisable},
1193 // {"dJointIsEnabled", (void **) &dJointIsEnabled},
1194 {"dJointSetData", (void **) &dJointSetData},
1195 {"dJointGetData", (void **) &dJointGetData},
1196 // {"dJointGetType", (void **) &dJointGetType},
1197 {"dJointGetBody", (void **) &dJointGetBody},
1198 // {"dJointSetFeedback", (void **) &dJointSetFeedback},
1199 // {"dJointGetFeedback", (void **) &dJointGetFeedback},
1200 {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
1201 // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
1202 {"dJointSetBallParam", (void **) &dJointSetBallParam},
1203 {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
1204 // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
1205 {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
1206 // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
1207 {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
1208 // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
1209 {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
1210 // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
1211 {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
1212 // {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
1213 {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
1214 {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
1215 {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
1216 {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
1217 // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
1218 {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
1219 {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
1220 // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
1221 {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
1222 // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
1223 {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
1224 // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
1225 // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
1226 // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
1227 // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
1228 // {"dJointSetPRParam", (void **) &dJointSetPRParam},
1229 // {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
1230 // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
1231 // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
1232 // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
1233 // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
1234 // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
1235 // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
1236 // {"dJointSetPUParam", (void **) &dJointSetPUParam},
1237 // {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
1238 // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
1239 // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
1240 // {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
1241 // {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
1242 // {"dJointSetFixed", (void **) &dJointSetFixed},
1243 // {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
1244 // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
1245 // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
1246 // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
1247 // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
1248 // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
1249 // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
1250 // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
1251 // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
1252 // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
1253 // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
1254 // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
1255 // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
1256 // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
1257 // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
1258 // {"dJointGetBallParam", (void **) &dJointGetBallParam},
1259 // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
1260 // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
1261 // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
1262 // {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
1263 // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
1264 // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
1265 // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
1266 // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
1267 // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
1268 // {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
1269 // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
1270 // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
1271 // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
1272 // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
1273 // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
1274 // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
1275 // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
1276 // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
1277 // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
1278 // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
1279 // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
1280 // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
1281 // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
1282 // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
1283 // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
1284 // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
1285 // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
1286 // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
1287 // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
1288 // {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
1289 // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
1290 // {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
1291 // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
1292 // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
1293 // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
1294 // {"dJointGetPRParam", (void **) &dJointGetPRParam},
1295 // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
1296 // {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
1297 // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
1298 // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
1299 // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
1300 // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
1301 // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
1302 // {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
1303 // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
1304 // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
1305 // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
1306 // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
1307 // {"dJointGetPUParam", (void **) &dJointGetPUParam},
1308 // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
1309 // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
1310 // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
1311 // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
1312 // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
1313 // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
1314 // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
1315 // {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
1316 // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
1317 // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
1318 // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
1319 // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
1320 // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
1321 // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
1322 // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
1323 // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
1324 // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
1325 // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
1326 // {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
1327 // {"dConnectingJoint", (void **) &dConnectingJoint},
1328 // {"dConnectingJointList", (void **) &dConnectingJointList},
1329 {"dAreConnected", (void **) &dAreConnected},
1330 {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
1331 {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
1332 {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
1333 {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
1334 // {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
1335 {"dSpaceDestroy", (void **) &dSpaceDestroy},
1336 // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
1337 // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
1338 // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
1339 // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
1340 // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
1341 // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
1342 // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
1343 // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
1344 // {"dSpaceAdd", (void **) &dSpaceAdd},
1345 // {"dSpaceRemove", (void **) &dSpaceRemove},
1346 // {"dSpaceQuery", (void **) &dSpaceQuery},
1347 // {"dSpaceClean", (void **) &dSpaceClean},
1348 // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
1349 // {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
1350 // {"dSpaceGetClass", (void **) &dSpaceGetClass},
1351 {"dGeomDestroy", (void **) &dGeomDestroy},
1352 {"dGeomSetData", (void **) &dGeomSetData},
1353 {"dGeomGetData", (void **) &dGeomGetData},
1354 {"dGeomSetBody", (void **) &dGeomSetBody},
1355 {"dGeomGetBody", (void **) &dGeomGetBody},
1356 {"dGeomSetPosition", (void **) &dGeomSetPosition},
1357 {"dGeomSetRotation", (void **) &dGeomSetRotation},
1358 // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
1359 // {"dGeomGetPosition", (void **) &dGeomGetPosition},
1360 // {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
1361 // {"dGeomGetRotation", (void **) &dGeomGetRotation},
1362 // {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
1363 // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
1364 // {"dGeomGetAABB", (void **) &dGeomGetAABB},
1365 {"dGeomIsSpace", (void **) &dGeomIsSpace},
1366 // {"dGeomGetSpace", (void **) &dGeomGetSpace},
1367 // {"dGeomGetClass", (void **) &dGeomGetClass},
1368 // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
1369 // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
1370 // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
1371 // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
1372 // {"dGeomEnable", (void **) &dGeomEnable},
1373 // {"dGeomDisable", (void **) &dGeomDisable},
1374 // {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
1375 // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
1376 // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
1377 // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
1378 // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
1379 // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
1380 // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
1381 // {"dGeomClearOffset", (void **) &dGeomClearOffset},
1382 // {"dGeomIsOffset", (void **) &dGeomIsOffset},
1383 // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
1384 // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
1385 // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
1386 // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
1387 // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
1388 {"dCollide", (void **) &dCollide},
1389 {"dSpaceCollide", (void **) &dSpaceCollide},
1390 {"dSpaceCollide2", (void **) &dSpaceCollide2},
1391 {"dCreateSphere", (void **) &dCreateSphere},
1392 // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
1393 // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
1394 // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
1395 // {"dCreateConvex", (void **) &dCreateConvex},
1396 // {"dGeomSetConvex", (void **) &dGeomSetConvex},
1397 {"dCreateBox", (void **) &dCreateBox},
1398 // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
1399 // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
1400 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1401 // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1402 // {"dCreatePlane", (void **) &dCreatePlane},
1403 // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
1404 // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
1405 // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
1406 {"dCreateCapsule", (void **) &dCreateCapsule},
1407 // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
1408 // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
1409 // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
1410 {"dCreateCylinder", (void **) &dCreateCylinder},
1411 // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
1412 // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
1413 // {"dCreateRay", (void **) &dCreateRay},
1414 // {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
1415 // {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
1416 // {"dGeomRaySet", (void **) &dGeomRaySet},
1417 // {"dGeomRayGet", (void **) &dGeomRayGet},
1418 {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
1419 {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
1420 // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
1421 {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
1422 // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
1423 // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
1424 // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
1425 {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
1426 {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
1427 // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
1428 // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
1429 // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
1430 // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
1431 {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
1432 // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
1433 // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
1434 // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
1435 // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
1436 // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
1437 // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
1438 // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
1439 // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
1440 // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
1441 // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
1442 // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
1443 // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
1444 // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
1445 // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
1446 // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
1447 // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
1448 {"dCreateTriMesh", (void **) &dCreateTriMesh},
1449 // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
1450 // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
1451 // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
1452 // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
1453 // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
1454 // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
1455 // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
1456 // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
1457 // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
1458 // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
1462 // Handle for ODE DLL
1463 dllhandle_t ode_dll = NULL;
1467 static void World_Physics_Init(void)
1471 const char* dllnames [] =
1475 # elif defined(MACOSX)
1484 Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1485 Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1486 Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
1487 Cvar_RegisterVariable(&physics_ode_contact_mu);
1488 Cvar_RegisterVariable(&physics_ode_contact_erp);
1489 Cvar_RegisterVariable(&physics_ode_contact_cfm);
1490 Cvar_RegisterVariable(&physics_ode_world_erp);
1491 Cvar_RegisterVariable(&physics_ode_world_cfm);
1492 Cvar_RegisterVariable(&physics_ode_world_damping);
1493 Cvar_RegisterVariable(&physics_ode_world_damping_linear);
1494 Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
1495 Cvar_RegisterVariable(&physics_ode_world_damping_angular);
1496 Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
1497 Cvar_RegisterVariable(&physics_ode_world_gravitymod);
1498 Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1499 Cvar_RegisterVariable(&physics_ode_constantstep);
1500 Cvar_RegisterVariable(&physics_ode_movelimit);
1501 Cvar_RegisterVariable(&physics_ode_spinlimit);
1502 Cvar_RegisterVariable(&physics_ode_trick_fixnan);
1503 Cvar_RegisterVariable(&physics_ode_autodisable);
1504 Cvar_RegisterVariable(&physics_ode_autodisable_steps);
1505 Cvar_RegisterVariable(&physics_ode_autodisable_time);
1506 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
1507 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
1508 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
1509 Cvar_RegisterVariable(&physics_ode_printstats);
1510 Cvar_RegisterVariable(&physics_ode);
1514 if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
1521 if (!dCheckConfiguration("ODE_single_precision"))
1523 if (!dCheckConfiguration("ODE_double_precision"))
1527 Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
1529 Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
1531 Sys_UnloadLibrary(&ode_dll);
1537 Con_Printf("ODE library loaded with single precision.\n");
1539 Con_Printf("ODE library loaded with double precision.\n");
1547 static void World_Physics_Shutdown(void)
1556 Sys_UnloadLibrary(&ode_dll);
1564 static void World_Physics_UpdateODE(world_t *world)
1568 odeworld = (dWorldID)world->physics.ode_world;
1571 if (physics_ode_world_erp.value >= 0)
1572 dWorldSetERP(odeworld, physics_ode_world_erp.value);
1573 if (physics_ode_world_cfm.value >= 0)
1574 dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
1576 if (physics_ode_world_damping.integer)
1578 dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
1579 dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
1580 dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
1581 dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
1585 dWorldSetLinearDamping(odeworld, 0);
1586 dWorldSetLinearDampingThreshold(odeworld, 0);
1587 dWorldSetAngularDamping(odeworld, 0);
1588 dWorldSetAngularDampingThreshold(odeworld, 0);
1591 dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
1592 if (physics_ode_autodisable.integer)
1594 dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
1595 dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
1596 dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
1597 dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
1598 dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
1602 static void World_Physics_EnableODE(world_t *world)
1604 dVector3 center, extents;
1605 if (world->physics.ode)
1611 world->physics.ode = true;
1612 VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1613 VectorSubtract(world->maxs, center, extents);
1614 world->physics.ode_world = dWorldCreate();
1615 world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1616 world->physics.ode_contactgroup = dJointGroupCreate(0);
1618 World_Physics_UpdateODE(world);
1622 static void World_Physics_Start(world_t *world)
1625 if (world->physics.ode)
1627 World_Physics_EnableODE(world);
1631 static void World_Physics_End(world_t *world)
1634 if (world->physics.ode)
1636 dWorldDestroy((dWorldID)world->physics.ode_world);
1637 dSpaceDestroy((dSpaceID)world->physics.ode_space);
1638 dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
1639 world->physics.ode = false;
1644 void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
1646 ed->priv.server->ode_joint_type = 0;
1648 if(ed->priv.server->ode_joint)
1649 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1650 ed->priv.server->ode_joint = NULL;
1654 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1656 edict_odefunc_t *f, *nf;
1658 // entity is not physics controlled, free any physics data
1659 ed->priv.server->ode_physics = false;
1661 if (ed->priv.server->ode_geom)
1662 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1663 ed->priv.server->ode_geom = NULL;
1664 if (ed->priv.server->ode_body)
1669 while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
1671 j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
1672 ed2 = (prvm_edict_t *) dJointGetData(j);
1673 b1 = dJointGetBody(j, 0);
1674 b2 = dJointGetBody(j, 1);
1675 if(b1 == (dBodyID)ed->priv.server->ode_body)
1678 ed2->priv.server->ode_joint_enemy = 0;
1680 if(b2 == (dBodyID)ed->priv.server->ode_body)
1683 ed2->priv.server->ode_joint_aiment = 0;
1685 dJointAttach(j, b1, b2);
1687 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1689 ed->priv.server->ode_body = NULL;
1691 if (ed->priv.server->ode_vertex3f)
1692 Mem_Free(ed->priv.server->ode_vertex3f);
1693 ed->priv.server->ode_vertex3f = NULL;
1694 ed->priv.server->ode_numvertices = 0;
1695 if (ed->priv.server->ode_element3i)
1696 Mem_Free(ed->priv.server->ode_element3i);
1697 ed->priv.server->ode_element3i = NULL;
1698 ed->priv.server->ode_numtriangles = 0;
1699 if(ed->priv.server->ode_massbuf)
1700 Mem_Free(ed->priv.server->ode_massbuf);
1701 ed->priv.server->ode_massbuf = NULL;
1702 // clear functions stack
1703 for(f = ed->priv.server->ode_func; f; f = nf)
1708 ed->priv.server->ode_func = NULL;
1711 void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
1713 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1718 case ODEFUNC_ENABLE:
1721 case ODEFUNC_DISABLE:
1724 case ODEFUNC_RELFORCEATPOS:
1726 dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
1728 case ODEFUNC_RELTORQUE:
1730 dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]);
1739 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1743 const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1745 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1747 matrix4x4_t bodymatrix;
1748 matrix4x4_t entitymatrix;
1751 vec3_t forward, left, up;
1753 vec3_t spinvelocity;
1758 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1759 if (movetype != MOVETYPE_PHYSICS)
1761 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1764 // TODO feed back data from physics
1765 case JOINTTYPE_POINT:
1767 case JOINTTYPE_HINGE:
1769 case JOINTTYPE_SLIDER:
1771 case JOINTTYPE_UNIVERSAL:
1773 case JOINTTYPE_HINGE2:
1775 case JOINTTYPE_FIXED:
1780 // store the physics engine data into the entity
1781 o = dBodyGetPosition(body);
1782 r = dBodyGetRotation(body);
1783 vel = dBodyGetLinearVel(body);
1784 avel = dBodyGetAngularVel(body);
1785 VectorCopy(o, origin);
1795 VectorCopy(vel, velocity);
1796 VectorCopy(avel, spinvelocity);
1797 Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1798 Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1799 Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1801 AnglesFromVectors(angles, forward, up, false);
1802 VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
1805 float pitchsign = 1;
1806 if(!strcmp(prog->name, "server")) // FIXME some better way?
1808 pitchsign = SV_GetPitchSign(ed);
1810 else if(!strcmp(prog->name, "client"))
1812 pitchsign = CL_GetPitchSign(ed);
1814 angles[PITCH] *= pitchsign;
1815 avelocity[PITCH] *= pitchsign;
1818 VectorCopy(origin, PRVM_gameedictvector(ed, origin));
1819 VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
1820 //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
1821 //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
1822 //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
1823 //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
1824 VectorCopy(angles, PRVM_gameedictvector(ed, angles));
1825 VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
1827 // values for BodyFromEntity to check if the qc modified anything later
1828 VectorCopy(origin, ed->priv.server->ode_origin);
1829 VectorCopy(velocity, ed->priv.server->ode_velocity);
1830 VectorCopy(angles, ed->priv.server->ode_angles);
1831 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1832 ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;
1834 if(!strcmp(prog->name, "server")) // FIXME some better way?
1837 SV_LinkEdict_TouchAreaGrid(ed);
1841 static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
1848 int enemy = 0, aiment = 0;
1849 vec3_t origin, velocity, angles, forward, left, up, movedir;
1850 vec_t CFM, ERP, FMax, Stop, Vel;
1851 VectorClear(origin);
1852 VectorClear(velocity);
1853 VectorClear(angles);
1854 VectorClear(movedir);
1855 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1856 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1857 enemy = PRVM_gameedictedict(ed, enemy);
1858 aiment = PRVM_gameedictedict(ed, aiment);
1859 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1860 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
1861 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
1862 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1863 if(movetype == MOVETYPE_PHYSICS)
1864 jointtype = 0; // can't have both
1865 if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
1867 if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
1869 // see http://www.ode.org/old_list_archives/2006-January/017614.html
1870 // we want to set ERP? make it fps independent and work like a spring constant
1871 // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
1872 if(movedir[0] > 0 && movedir[1] > 0)
1874 float K = movedir[0];
1875 float D = movedir[1];
1876 float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
1877 CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
1878 ERP = world->physics.ode_step * K * CFM;
1883 else if(movedir[1] < 0)
1888 FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
1889 Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
1891 else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
1899 if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
1900 return; // nothing to do
1901 AngleVectorsFLU(angles, forward, left, up);
1904 case JOINTTYPE_POINT:
1905 j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
1907 case JOINTTYPE_HINGE:
1908 j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
1910 case JOINTTYPE_SLIDER:
1911 j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
1913 case JOINTTYPE_UNIVERSAL:
1914 j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
1916 case JOINTTYPE_HINGE2:
1917 j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
1919 case JOINTTYPE_FIXED:
1920 j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
1928 if(ed->priv.server->ode_joint)
1930 //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
1931 dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
1932 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1934 ed->priv.server->ode_joint = (void *) j;
1935 ed->priv.server->ode_joint_type = jointtype;
1936 ed->priv.server->ode_joint_enemy = enemy;
1937 ed->priv.server->ode_joint_aiment = aiment;
1938 VectorCopy(origin, ed->priv.server->ode_joint_origin);
1939 VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
1940 VectorCopy(angles, ed->priv.server->ode_joint_angles);
1941 VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
1944 //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
1945 dJointSetData(j, (void *) ed);
1947 b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
1949 b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
1950 dJointAttach(j, b1, b2);
1954 case JOINTTYPE_POINT:
1955 dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
1957 case JOINTTYPE_HINGE:
1958 dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
1959 dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
1960 dJointSetHingeParam(j, dParamFMax, FMax);
1961 dJointSetHingeParam(j, dParamHiStop, Stop);
1962 dJointSetHingeParam(j, dParamLoStop, -Stop);
1963 dJointSetHingeParam(j, dParamStopCFM, CFM);
1964 dJointSetHingeParam(j, dParamStopERP, ERP);
1965 dJointSetHingeParam(j, dParamVel, Vel);
1967 case JOINTTYPE_SLIDER:
1968 dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
1969 dJointSetSliderParam(j, dParamFMax, FMax);
1970 dJointSetSliderParam(j, dParamHiStop, Stop);
1971 dJointSetSliderParam(j, dParamLoStop, -Stop);
1972 dJointSetSliderParam(j, dParamStopCFM, CFM);
1973 dJointSetSliderParam(j, dParamStopERP, ERP);
1974 dJointSetSliderParam(j, dParamVel, Vel);
1976 case JOINTTYPE_UNIVERSAL:
1977 dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
1978 dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
1979 dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
1980 dJointSetUniversalParam(j, dParamFMax, FMax);
1981 dJointSetUniversalParam(j, dParamHiStop, Stop);
1982 dJointSetUniversalParam(j, dParamLoStop, -Stop);
1983 dJointSetUniversalParam(j, dParamStopCFM, CFM);
1984 dJointSetUniversalParam(j, dParamStopERP, ERP);
1985 dJointSetUniversalParam(j, dParamVel, Vel);
1986 dJointSetUniversalParam(j, dParamFMax2, FMax);
1987 dJointSetUniversalParam(j, dParamHiStop2, Stop);
1988 dJointSetUniversalParam(j, dParamLoStop2, -Stop);
1989 dJointSetUniversalParam(j, dParamStopCFM2, CFM);
1990 dJointSetUniversalParam(j, dParamStopERP2, ERP);
1991 dJointSetUniversalParam(j, dParamVel2, Vel);
1993 case JOINTTYPE_HINGE2:
1994 dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
1995 dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
1996 dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
1997 dJointSetHinge2Param(j, dParamFMax, FMax);
1998 dJointSetHinge2Param(j, dParamHiStop, Stop);
1999 dJointSetHinge2Param(j, dParamLoStop, -Stop);
2000 dJointSetHinge2Param(j, dParamStopCFM, CFM);
2001 dJointSetHinge2Param(j, dParamStopERP, ERP);
2002 dJointSetHinge2Param(j, dParamVel, Vel);
2003 dJointSetHinge2Param(j, dParamFMax2, FMax);
2004 dJointSetHinge2Param(j, dParamHiStop2, Stop);
2005 dJointSetHinge2Param(j, dParamLoStop2, -Stop);
2006 dJointSetHinge2Param(j, dParamStopCFM2, CFM);
2007 dJointSetHinge2Param(j, dParamStopERP2, ERP);
2008 dJointSetHinge2Param(j, dParamVel2, Vel);
2010 case JOINTTYPE_FIXED:
2014 Sys_Error("what? but above the joint was valid...\n");
2022 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
2026 dBodyID body = (dBodyID)ed->priv.server->ode_body;
2029 const dReal *ovelocity, *ospinvelocity;
2031 dVector3 capsulerot[3];
2037 int movetype = MOVETYPE_NONE;
2040 int solid = SOLID_NOT;
2044 qboolean modified = false;
2054 vec3_t spinvelocity;
2059 vec_t massval = 1.0f;
2065 edict_odefunc_t *func, *nextf;
2071 VectorClear(entmins);
2072 VectorClear(entmaxs);
2073 solid = (int)PRVM_gameedictfloat(ed, solid);
2074 movetype = (int)PRVM_gameedictfloat(ed, movetype);
2075 scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f;
2077 if (world == &sv.world)
2078 mempool = sv_mempool;
2079 else if (world == &cl.world)
2080 mempool = cls.levelmempool;
2087 case SOLID_PHYSICS_TRIMESH:
2088 modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
2089 if (world == &sv.world)
2090 model = SV_GetModelByIndex(modelindex);
2091 else if (world == &cl.world)
2092 model = CL_GetModelByIndex(modelindex);
2097 VectorScale(model->normalmins, scale, entmins);
2098 VectorScale(model->normalmaxs, scale, entmaxs);
2099 massval = PRVM_gameedictfloat(ed, mass);
2108 //case SOLID_SLIDEBOX:
2110 case SOLID_PHYSICS_BOX:
2111 case SOLID_PHYSICS_SPHERE:
2112 case SOLID_PHYSICS_CAPSULE:
2113 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2114 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2115 massval = PRVM_gameedictfloat(ed, mass);
2118 if (ed->priv.server->ode_physics)
2119 World_Physics_RemoveFromEntity(world, ed);
2123 VectorSubtract(entmaxs, entmins, geomsize);
2124 if (VectorLength2(geomsize) == 0)
2126 // we don't allow point-size physics objects...
2127 if (ed->priv.server->ode_physics)
2128 World_Physics_RemoveFromEntity(world, ed);
2132 if (movetype != MOVETYPE_PHYSICS)
2135 // get friction from entity
2136 if (PRVM_gameedictfloat(ed, friction))
2137 ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction);
2139 ed->priv.server->ode_friction = 1.0;
2141 // check if we need to create or replace the geom
2142 if (!ed->priv.server->ode_physics
2143 || !VectorCompare(ed->priv.server->ode_mins, entmins)
2144 || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
2145 || ed->priv.server->ode_mass != massval
2146 || ed->priv.server->ode_modelindex != modelindex)
2149 World_Physics_RemoveFromEntity(world, ed);
2150 ed->priv.server->ode_physics = true;
2151 VectorCopy(entmins, ed->priv.server->ode_mins);
2152 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
2153 ed->priv.server->ode_mass = massval;
2154 ed->priv.server->ode_modelindex = modelindex;
2155 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2156 if (PRVM_gameedictvector(ed, massofs))
2157 VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
2159 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2160 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
2161 if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
2163 if (movetype == MOVETYPE_PHYSICS)
2164 Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
2166 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2172 case SOLID_PHYSICS_TRIMESH:
2173 ed->priv.server->ode_offsetmatrix = identitymatrix;
2176 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
2179 // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
2180 if (!model->brush.collisionmesh)
2181 Mod_CreateCollisionMesh(model);
2182 if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
2184 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
2187 // ODE requires persistent mesh storage, so we need to copy out
2188 // the data from the model because renderer restarts could free it
2189 // during the game, additionally we need to flip the triangles...
2190 // note: ODE does preprocessing of the mesh for culling, removing
2191 // concave edges, etc., so this is not a lightweight operation
2192 ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
2193 ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
2194 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2196 ov[0] = iv[0] - geomcenter[0];
2197 ov[1] = iv[1] - geomcenter[1];
2198 ov[2] = iv[2] - geomcenter[2];
2200 ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
2201 ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
2202 //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
2203 for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
2209 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2210 // now create the geom
2211 dataID = dGeomTriMeshDataCreate();
2212 dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
2213 ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
2214 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2217 case SOLID_SLIDEBOX:
2219 case SOLID_PHYSICS_BOX:
2221 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2222 ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
2223 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2225 case SOLID_PHYSICS_SPHERE:
2226 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2227 ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
2228 dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
2230 case SOLID_PHYSICS_CAPSULE:
2231 case SOLID_PHYSICS_CYLINDER:
2233 if (geomsize[axisindex] < geomsize[1])
2235 if (geomsize[axisindex] < geomsize[2])
2237 // the qc gives us 3 axis radius, the longest axis is the capsule
2238 // axis, since ODE doesn't like this idea we have to create a
2239 // capsule which uses the standard orientation, and apply a
2241 memset(capsulerot, 0, sizeof(capsulerot));
2243 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2244 else if (axisindex == 1)
2245 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2247 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2248 radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
2249 length = geomsize[axisindex] - radius*2;
2250 // because we want to support more than one axisindex, we have to
2251 // create a transform, and turn on its cleanup setting (which will
2252 // cause the child to be destroyed when it is destroyed)
2253 if (solid == SOLID_PHYSICS_CAPSULE)
2255 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2256 dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
2260 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2261 dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
2265 Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
2266 // this goto only exists to prevent warnings from the compiler
2267 // about uninitialized variables (mass), while allowing it to
2268 // catch legitimate uninitialized variable warnings
2271 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
2272 ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
2273 memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
2276 if (ed->priv.server->ode_geom)
2277 dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
2278 if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
2280 if (ed->priv.server->ode_body == NULL)
2282 ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
2283 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2284 dBodySetData(body, (void*)ed);
2285 dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
2291 if (ed->priv.server->ode_body != NULL)
2293 if(ed->priv.server->ode_geom)
2294 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2295 dBodyDestroy((dBodyID) ed->priv.server->ode_body);
2296 ed->priv.server->ode_body = NULL;
2301 // get current data from entity
2302 VectorClear(origin);
2303 VectorClear(velocity);
2304 //VectorClear(forward);
2305 //VectorClear(left);
2307 //VectorClear(spinvelocity);
2308 VectorClear(angles);
2309 VectorClear(avelocity);
2311 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
2312 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
2313 //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
2314 //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
2315 //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
2316 //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
2317 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
2318 VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
2319 if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
2320 if (ed == prog->edicts)
2323 // compatibility for legacy entities
2324 //if (!VectorLength2(forward) || solid == SOLID_BSP)
2326 float pitchsign = 1;
2327 vec3_t qangles, qavelocity;
2328 VectorCopy(angles, qangles);
2329 VectorCopy(avelocity, qavelocity);
2331 if(!strcmp(prog->name, "server")) // FIXME some better way?
2333 pitchsign = SV_GetPitchSign(ed);
2335 else if(!strcmp(prog->name, "client"))
2337 pitchsign = CL_GetPitchSign(ed);
2339 qangles[PITCH] *= pitchsign;
2340 qavelocity[PITCH] *= pitchsign;
2342 AngleVectorsFLU(qangles, forward, left, up);
2343 // convert single-axis rotations in avelocity to spinvelocity
2344 // FIXME: untested math - check signs
2345 VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
2348 // compatibility for legacy entities
2352 case SOLID_SLIDEBOX:
2354 VectorSet(forward, 1, 0, 0);
2355 VectorSet(left, 0, 1, 0);
2356 VectorSet(up, 0, 0, 1);
2357 VectorSet(spinvelocity, 0, 0, 0);
2362 // we must prevent NANs...
2363 if (physics_ode_trick_fixnan.integer)
2365 test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
2369 //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2370 if (physics_ode_trick_fixnan.integer >= 2)
2371 Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
2372 test = VectorLength2(origin);
2374 VectorClear(origin);
2375 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
2378 VectorSet(angles, 0, 0, 0);
2379 VectorSet(forward, 1, 0, 0);
2380 VectorSet(left, 0, 1, 0);
2381 VectorSet(up, 0, 0, 1);
2383 test = VectorLength2(velocity);
2385 VectorClear(velocity);
2386 test = VectorLength2(spinvelocity);
2389 VectorClear(avelocity);
2390 VectorClear(spinvelocity);
2395 // check if the qc edited any position data
2396 if (!VectorCompare(origin, ed->priv.server->ode_origin)
2397 || !VectorCompare(velocity, ed->priv.server->ode_velocity)
2398 || !VectorCompare(angles, ed->priv.server->ode_angles)
2399 || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
2400 || gravity != ed->priv.server->ode_gravity)
2403 // store the qc values into the physics engine
2404 body = (dBodyID)ed->priv.server->ode_body;
2405 if (modified && ed->priv.server->ode_geom)
2408 matrix4x4_t entitymatrix;
2409 matrix4x4_t bodymatrix;
2412 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
2413 if(!VectorCompare(origin, ed->priv.server->ode_origin))
2414 Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
2415 if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
2416 Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
2417 if(!VectorCompare(angles, ed->priv.server->ode_angles))
2418 Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
2419 if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
2420 Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
2421 if(gravity != ed->priv.server->ode_gravity)
2422 Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
2424 // values for BodyFromEntity to check if the qc modified anything later
2425 VectorCopy(origin, ed->priv.server->ode_origin);
2426 VectorCopy(velocity, ed->priv.server->ode_velocity);
2427 VectorCopy(angles, ed->priv.server->ode_angles);
2428 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
2429 ed->priv.server->ode_gravity = gravity;
2431 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
2432 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
2433 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
2434 r[0][0] = forward[0];
2435 r[1][0] = forward[1];
2436 r[2][0] = forward[2];
2445 if(movetype == MOVETYPE_PHYSICS)
2447 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2448 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2449 dBodySetRotation(body, r[0]);
2450 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2451 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2452 dBodySetGravityMode(body, gravity);
2456 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2457 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2458 dBodySetRotation(body, r[0]);
2459 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2460 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2461 dBodySetGravityMode(body, gravity);
2462 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2467 // no body... then let's adjust the parameters of the geom directly
2468 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
2469 dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
2470 dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
2477 // limit movement speed to prevent missed collisions at high speed
2478 ovelocity = dBodyGetLinearVel(body);
2479 ospinvelocity = dBodyGetAngularVel(body);
2480 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
2481 test = VectorLength2(ovelocity);
2482 if (test > movelimit*movelimit)
2484 // scale down linear velocity to the movelimit
2485 // scale down angular velocity the same amount for consistency
2486 f = movelimit / sqrt(test);
2487 VectorScale(ovelocity, f, velocity);
2488 VectorScale(ospinvelocity, f, spinvelocity);
2489 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2490 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2493 // make sure the angular velocity is not exploding
2494 spinlimit = physics_ode_spinlimit.value;
2495 test = VectorLength2(ospinvelocity);
2496 if (test > spinlimit)
2498 dBodySetAngularVel(body, 0, 0, 0);
2501 // apply functions and clear stack
2502 for(func = ed->priv.server->ode_func; func; func = nextf)
2505 World_Physics_ApplyCmd(ed, func);
2508 ed->priv.server->ode_func = NULL;
2512 #define MAX_CONTACTS 16
2513 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
2515 world_t *world = (world_t *)data;
2516 dContact contact[MAX_CONTACTS]; // max contacts per collision pair
2522 float bouncefactor1 = 0.0f;
2523 float bouncestop1 = 60.0f / 800.0f;
2524 float bouncefactor2 = 0.0f;
2525 float bouncestop2 = 60.0f / 800.0f;
2527 prvm_edict_t *ed1, *ed2;
2529 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
2531 // colliding a space with something
2532 dSpaceCollide2(o1, o2, data, &nearCallback);
2533 // Note we do not want to test intersections within a space,
2534 // only between spaces.
2535 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2536 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2540 b1 = dGeomGetBody(o1);
2541 b2 = dGeomGetBody(o2);
2543 // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
2547 // exit without doing anything if the two bodies are connected by a joint
2548 if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2551 ed1 = (prvm_edict_t *) dGeomGetData(o1);
2552 if(ed1 && ed1->priv.server->free)
2556 bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
2557 bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
2559 bouncestop1 = 60.0f / 800.0f;
2562 ed2 = (prvm_edict_t *) dGeomGetData(o2);
2563 if(ed2 && ed2->priv.server->free)
2567 bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
2568 bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
2570 bouncestop2 = 60.0f / 800.0f;
2573 if(!strcmp(prog->name, "server"))
2575 if(ed1 && PRVM_serveredictfunction(ed1, touch))
2577 SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
2579 if(ed2 && PRVM_serveredictfunction(ed2, touch))
2581 SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
2585 // merge bounce factors and bounce stop
2586 if(bouncefactor2 > 0)
2588 if(bouncefactor1 > 0)
2590 // TODO possibly better logic to merge bounce factor data?
2591 if(bouncestop2 < bouncestop1)
2592 bouncestop1 = bouncestop2;
2593 if(bouncefactor2 > bouncefactor1)
2594 bouncefactor1 = bouncefactor2;
2598 bouncestop1 = bouncestop2;
2599 bouncefactor1 = bouncefactor2;
2602 dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
2603 bouncestop1 *= fabs(grav[2]);
2605 // generate contact points between the two non-space geoms
2606 numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
2607 // add these contact points to the simulation
2608 for (i = 0;i < numcontacts;i++)
2610 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);
2611 contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
2612 contact[i].surface.soft_erp = physics_ode_contact_erp.value;
2613 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
2614 contact[i].surface.bounce = bouncefactor1;
2615 contact[i].surface.bounce_vel = bouncestop1;
2616 c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
2617 dJointAttach(c, b1, b2);
2622 void World_Physics_Frame(world_t *world, double frametime, double gravity)
2624 double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
2626 tdelta = Sys_DoubleTime();
2628 if (world->physics.ode && physics_ode.integer)
2633 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
2634 if (physics_ode_constantstep.integer > 0 && physics_ode_constantstep.integer < 1)
2635 world->physics.ode_step = physics_ode_constantstep.integer / world->physics.ode_iterations;
2636 else if (physics_ode_constantstep.integer)
2637 world->physics.ode_step = sys_ticrate.integer / world->physics.ode_iterations;
2639 world->physics.ode_step = frametime / world->physics.ode_iterations;
2640 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
2641 World_Physics_UpdateODE(world);
2643 // copy physics properties from entities to physics engine
2646 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2647 if (!prog->edicts[i].priv.required->free)
2648 World_Physics_Frame_BodyFromEntity(world, ed);
2649 // oh, and it must be called after all bodies were created
2650 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2651 if (!prog->edicts[i].priv.required->free)
2652 World_Physics_Frame_JointFromEntity(world, ed);
2655 tdelta2 = Sys_DoubleTime();
2657 for (i = 0;i < world->physics.ode_iterations;i++)
2660 dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
2661 // set the tolerance for closeness of objects
2662 dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
2664 // run collisions for the current world state, creating JointGroup
2665 tdelta3 = Sys_DoubleTime();
2666 dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
2667 collisiontime += (Sys_DoubleTime() - tdelta3)*10000;
2669 // run physics (move objects, calculate new velocities)
2670 // be sure not to pass 0 as step time because that causes an ODE error
2671 dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
2672 if (world->physics.ode_step > 0)
2673 dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
2675 // clear the JointGroup now that we're done with it
2676 dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
2678 simulationtime = (Sys_DoubleTime() - tdelta2)*10000;
2680 // copy physics properties from physics engine to entities and do some stats
2683 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2684 if (!prog->edicts[i].priv.required->free)
2685 World_Physics_Frame_BodyToEntity(world, ed);
2688 if (physics_ode_printstats.integer)
2692 world->physics.ode_numobjects = 0;
2693 world->physics.ode_activeovjects = 0;
2694 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2696 if (prog->edicts[i].priv.required->free)
2698 body = (dBodyID)prog->edicts[i].priv.server->ode_body;
2701 world->physics.ode_numobjects++;
2702 if (dBodyIsEnabled(body))
2703 world->physics.ode_activeovjects++;
2705 Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DoubleTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));