ODE: support for joint groups, required for physics constraints. Also new tracked fields: .damp_linear, .damp_angular, .max_angular and .jointgroup (#289)
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2 changed files with 67 additions and 18 deletions
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@ -415,16 +415,16 @@ int (ODE_API *dBodyGetGravityMode)(dBodyID b);
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//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
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//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
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//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
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//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
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void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
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//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
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//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
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void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
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//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
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//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
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//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
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//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
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//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
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//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
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//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
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void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
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//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
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//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
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dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
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@ -885,16 +885,16 @@ static dllfunction_t odefuncs[] =
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// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
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// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
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// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
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// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
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{"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
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// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
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// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
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{"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
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// {"dBodySetDamping", (void **) &dBodySetDamping},
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// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
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// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
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// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
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// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
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// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
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// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
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{"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
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// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
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// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
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{(void **) &dJointCreateBall, "dJointCreateBall"},
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@ -1515,13 +1515,16 @@ static void World_ODE_Frame_BodyToEntity(world_t *world, wedict_t *ed)
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rbefuncs->LinkEdict(world, ed, true);
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}
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static int ragGroups = 0;
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static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
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{
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struct odectx_s *ctx = (struct odectx_s*)world->rbe;
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dJointID j = 0;
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dBodyID b1 = 0;
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dBodyID b2 = 0;
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dJointGroupID jgid = 0;
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int movetype = 0;
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int jointgroup = 0;
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int jointtype = 0;
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int enemy = 0, aiment = 0;
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wedict_t *o;
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@ -1535,6 +1538,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
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jointtype = (int)ed->xv->jointtype;
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enemy = ed->v->enemy;
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aiment = ed->v->aiment;
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jointgroup = ed->xv->jointgroup;
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VectorCopy(ed->v->origin, origin);
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VectorCopy(ed->v->velocity, velocity);
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VectorCopy(ed->v->angles, angles);
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@ -1580,26 +1584,40 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
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}
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if(jointtype == ed->rbe.joint_type && VectorCompare(origin, ed->rbe.joint_origin) && VectorCompare(velocity, ed->rbe.joint_velocity) && VectorCompare(angles, ed->rbe.joint_angles) && enemy == ed->rbe.joint_enemy && aiment == ed->rbe.joint_aiment && VectorCompare(movedir, ed->rbe.joint_movedir))
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return; // nothing to do
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/* we're part of a joint group */
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if (jointgroup > 0) {
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/* we're unaware of it, let's create it */
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if (jointgroup > ragGroups) {
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jgid = dJointGroupCreate(0);
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ragGroups = jointgroup;
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} else {
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jgid = (dJointGroupID)jointgroup;
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}
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ed->rbe.jointgroup = jgid;
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}
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AngleVectorsFLU(angles, forward, left, up);
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switch(jointtype)
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{
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case JOINTTYPE_POINT:
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j = dJointCreateBall(ctx->dworld, 0);
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j = dJointCreateBall(ctx->dworld, jgid);
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break;
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case JOINTTYPE_HINGE:
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j = dJointCreateHinge(ctx->dworld, 0);
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j = dJointCreateHinge(ctx->dworld, jgid);
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break;
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case JOINTTYPE_SLIDER:
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j = dJointCreateSlider(ctx->dworld, 0);
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j = dJointCreateSlider(ctx->dworld, jgid);
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break;
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case JOINTTYPE_UNIVERSAL:
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j = dJointCreateUniversal(ctx->dworld, 0);
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j = dJointCreateUniversal(ctx->dworld, jgid);
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break;
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case JOINTTYPE_HINGE2:
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j = dJointCreateHinge2(ctx->dworld, 0);
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j = dJointCreateHinge2(ctx->dworld, jgid);
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break;
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case JOINTTYPE_FIXED:
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j = dJointCreateFixed(ctx->dworld, 0);
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j = dJointCreateFixed(ctx->dworld, jgid);
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break;
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case 0:
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default:
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@ -1635,6 +1653,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
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{
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case JOINTTYPE_POINT:
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dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
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dJointSetBallAnchor2(j, velocity[0], velocity[1], velocity[2]);
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break;
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case JOINTTYPE_HINGE:
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dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
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@ -1698,6 +1717,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
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dJointSetHinge2Param(j, dParamVel2, Vel);
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break;
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case JOINTTYPE_FIXED:
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dJointSetFixed(j);
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break;
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case 0:
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default:
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@ -2035,6 +2055,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
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vec_t f;
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vec_t length;
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vec_t massval = 1.0f;
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dReal dampLinear;
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dReal dampAngular;
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dReal maxAngularSpeed;
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vec_t movelimit;
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vec_t radius;
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vec_t scale;
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@ -2048,6 +2071,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
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solid = (int)ed->v->solid;
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movetype = (int)ed->v->movetype;
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scale = ed->xv->scale?ed->xv->scale:1;
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dampLinear = (ed->xv->damp_linear >= 0.0f) ? ed->xv->damp_linear : 0.0f;
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dampAngular = (ed->xv->damp_angular >= 0.0f) ? ed->xv->damp_angular : 0.0f;
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maxAngularSpeed = (ed->xv->max_angular > 0.0f) ? ed->xv->max_angular : dInfinity;
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modelindex = 0;
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model = NULL;
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@ -2443,6 +2469,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
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dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
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dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
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dBodySetGravityMode(body, gravity);
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dBodySetLinearDamping(body, dampLinear);
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dBodySetAngularDamping(body, dampAngular);
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dBodySetMaxAngularSpeed(body, maxAngularSpeed);
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}
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else
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{
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@ -2452,6 +2481,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
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dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
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dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
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dBodySetGravityMode(body, gravity);
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dBodySetLinearDamping(body, dampLinear);
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dBodySetAngularDamping(body, dampAngular);
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dBodySetMaxAngularSpeed(body, maxAngularSpeed);
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dGeomSetBody(ed->rbe.body.geom, 0);
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}
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}
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@ -2508,6 +2540,10 @@ static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
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float bouncestop1 = 60.0f / 800.0f;
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float bouncefactor2 = 0.0f;
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float bouncestop2 = 60.0f / 800.0f;
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float dampLinear1 = 1.0f;
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float dampAngular1 = 1.0f;
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float dampLinear2 = 1.0f;
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float dampAngular2 = 1.0f;
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float erp;
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dVector3 grav;
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wedict_t *ed1, *ed2;
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@ -2619,20 +2655,28 @@ static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
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// add these contact points to the simulation
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for (i = 0;i < numcontacts;i++)
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{
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contact[i].surface.mode = (physics_ode_contact_mu->value != -1 ? dContactApprox1 : 0) |
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contact[i].surface.mode = dContactApprox1 |
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(physics_ode_contact_erp->value != -1 ? dContactSoftERP : 0) |
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(physics_ode_contact_cfm->value != -1 ? dContactSoftCFM : 0) |
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(bouncefactor1 > 0 ? dContactBounce : 0);
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contact[i].surface.mu = physics_ode_contact_mu->value;
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if (ed1->xv->friction)
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contact[i].surface.mu *= ed1->xv->friction;
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if (ed2->xv->friction)
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contact[i].surface.mu *= ed2->xv->friction;
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if (physics_ode_contact_mu->value != -1) {
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contact[i].surface.mu = physics_ode_contact_mu->value;
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if (ed1->xv->friction)
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contact[i].surface.mu *= ed1->xv->friction;
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if (ed2->xv->friction)
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contact[i].surface.mu *= ed2->xv->friction;
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} else {
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contact[i].surface.mu = dInfinity;
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}
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contact[i].surface.mu2 = 0;
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contact[i].surface.soft_erp = physics_ode_contact_erp->value + erp;
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contact[i].surface.soft_cfm = physics_ode_contact_cfm->value;
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contact[i].surface.bounce = bouncefactor1;
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contact[i].surface.bounce_vel = bouncestop1;
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c = dJointCreateContact(ctx->dworld, ctx->contactgroup, contact + i);
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dJointAttach(c, b1, b2);
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}
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@ -302,6 +302,10 @@ and the extension fields are added on the end and can have extra vm-specific stu
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comfieldfloat(mass,NULL)/*DP_...PHYSICS*/\
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comfieldfloat(bouncefactor,NULL)/*DP_...PHYSICS*/\
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comfieldfloat(bouncestop,NULL)/*DP_...PHYSICS*/\
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comfieldfloat(damp_linear,NULL)/*FTE_...PHYSICS*/\
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comfieldfloat(damp_angular,NULL)/*FTE_...PHYSICS*/\
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comfieldfloat(max_angular,NULL)/*FTE_...PHYSICS*/\
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comfieldfloat(jointgroup,NULL)/*FTE_...PHYSICS*/\
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comfieldfloat(idealpitch,NULL)/*DP_QC_CHANGEPITCH (inconsistant naming)*/\
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comfieldfloat(pitch_speed,NULL)/*DP_QC_CHANGEPITCH*/\
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comextqcfieldshexen2 \
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@ -562,6 +566,7 @@ typedef struct
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qboolean physics;
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rbebody_t body;
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rbejoint_t joint;
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int jointgroup;
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float *vertex3f;
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int *element3i;
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int numvertices;
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