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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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Marco Cawthorne 2024-10-20 20:13:13 -07:00 committed by GitHub
parent d7380a6895
commit 2b2ff7a6fa
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2 changed files with 67 additions and 18 deletions
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80
engine/common/com_phys_ode.c
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@ -415,16 +415,16 @@ int (ODE_API *dBodyGetGravityMode)(dBodyID b);
//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
//void (ODE_API *dBodySetDampingDefaults)(dBodyID b); //void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
@ -885,16 +885,16 @@ static dllfunction_t odefuncs[] =
// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom}, // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults}, // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping}, // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping}, {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping}, // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping}, {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
// {"dBodySetDamping", (void **) &dBodySetDamping}, // {"dBodySetDamping", (void **) &dBodySetDamping},
// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold}, // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold}, // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold}, // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold}, // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed}, // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed}, {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode}, // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode}, // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
{(void **) &dJointCreateBall, "dJointCreateBall"}, {(void **) &dJointCreateBall, "dJointCreateBall"},
@ -1515,13 +1515,16 @@ static void World_ODE_Frame_BodyToEntity(world_t *world, wedict_t *ed)
rbefuncs->LinkEdict(world, ed, true); rbefuncs->LinkEdict(world, ed, true);
} }
static int ragGroups = 0;
static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed) static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
{ {
struct odectx_s *ctx = (struct odectx_s*)world->rbe; struct odectx_s *ctx = (struct odectx_s*)world->rbe;
dJointID j = 0; dJointID j = 0;
dBodyID b1 = 0; dBodyID b1 = 0;
dBodyID b2 = 0; dBodyID b2 = 0;
dJointGroupID jgid = 0;
int movetype = 0; int movetype = 0;
int jointgroup = 0;
int jointtype = 0; int jointtype = 0;
int enemy = 0, aiment = 0; int enemy = 0, aiment = 0;
wedict_t *o; wedict_t *o;
@ -1535,6 +1538,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
jointtype = (int)ed->xv->jointtype; jointtype = (int)ed->xv->jointtype;
enemy = ed->v->enemy; enemy = ed->v->enemy;
aiment = ed->v->aiment; aiment = ed->v->aiment;
jointgroup = ed->xv->jointgroup;
VectorCopy(ed->v->origin, origin); VectorCopy(ed->v->origin, origin);
VectorCopy(ed->v->velocity, velocity); VectorCopy(ed->v->velocity, velocity);
VectorCopy(ed->v->angles, angles); VectorCopy(ed->v->angles, angles);
@ -1580,26 +1584,40 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
} }
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)) 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))
return; // nothing to do return; // nothing to do
/* we're part of a joint group */
if (jointgroup > 0) {
/* we're unaware of it, let's create it */
if (jointgroup > ragGroups) {
jgid = dJointGroupCreate(0);
ragGroups = jointgroup;
} else {
jgid = (dJointGroupID)jointgroup;
}
ed->rbe.jointgroup = jgid;
}
AngleVectorsFLU(angles, forward, left, up); AngleVectorsFLU(angles, forward, left, up);
switch(jointtype) switch(jointtype)
{ {
case JOINTTYPE_POINT: case JOINTTYPE_POINT:
j = dJointCreateBall(ctx->dworld, 0); j = dJointCreateBall(ctx->dworld, jgid);
break; break;
case JOINTTYPE_HINGE: case JOINTTYPE_HINGE:
j = dJointCreateHinge(ctx->dworld, 0); j = dJointCreateHinge(ctx->dworld, jgid);
break; break;
case JOINTTYPE_SLIDER: case JOINTTYPE_SLIDER:
j = dJointCreateSlider(ctx->dworld, 0); j = dJointCreateSlider(ctx->dworld, jgid);
break; break;
case JOINTTYPE_UNIVERSAL: case JOINTTYPE_UNIVERSAL:
j = dJointCreateUniversal(ctx->dworld, 0); j = dJointCreateUniversal(ctx->dworld, jgid);
break; break;
case JOINTTYPE_HINGE2: case JOINTTYPE_HINGE2:
j = dJointCreateHinge2(ctx->dworld, 0); j = dJointCreateHinge2(ctx->dworld, jgid);
break; break;
case JOINTTYPE_FIXED: case JOINTTYPE_FIXED:
j = dJointCreateFixed(ctx->dworld, 0); j = dJointCreateFixed(ctx->dworld, jgid);
break; break;
case 0: case 0:
default: default:
@ -1635,6 +1653,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
{ {
case JOINTTYPE_POINT: case JOINTTYPE_POINT:
dJointSetBallAnchor(j, origin[0], origin[1], origin[2]); dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
dJointSetBallAnchor2(j, velocity[0], velocity[1], velocity[2]);
break; break;
case JOINTTYPE_HINGE: case JOINTTYPE_HINGE:
dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]); dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
@ -1698,6 +1717,7 @@ static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
dJointSetHinge2Param(j, dParamVel2, Vel); dJointSetHinge2Param(j, dParamVel2, Vel);
break; break;
case JOINTTYPE_FIXED: case JOINTTYPE_FIXED:
dJointSetFixed(j);
break; break;
case 0: case 0:
default: default:
@ -2035,6 +2055,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
vec_t f; vec_t f;
vec_t length; vec_t length;
vec_t massval = 1.0f; vec_t massval = 1.0f;
dReal dampLinear;
dReal dampAngular;
dReal maxAngularSpeed;
vec_t movelimit; vec_t movelimit;
vec_t radius; vec_t radius;
vec_t scale; vec_t scale;
@ -2048,6 +2071,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
solid = (int)ed->v->solid; solid = (int)ed->v->solid;
movetype = (int)ed->v->movetype; movetype = (int)ed->v->movetype;
scale = ed->xv->scale?ed->xv->scale:1; scale = ed->xv->scale?ed->xv->scale:1;
dampLinear = (ed->xv->damp_linear >= 0.0f) ? ed->xv->damp_linear : 0.0f;
dampAngular = (ed->xv->damp_angular >= 0.0f) ? ed->xv->damp_angular : 0.0f;
maxAngularSpeed = (ed->xv->max_angular > 0.0f) ? ed->xv->max_angular : dInfinity;
modelindex = 0; modelindex = 0;
model = NULL; model = NULL;
@ -2443,6 +2469,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
dBodySetGravityMode(body, gravity); dBodySetGravityMode(body, gravity);
dBodySetLinearDamping(body, dampLinear);
dBodySetAngularDamping(body, dampAngular);
dBodySetMaxAngularSpeed(body, maxAngularSpeed);
} }
else else
{ {
@ -2452,6 +2481,9 @@ static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
dBodySetGravityMode(body, gravity); dBodySetGravityMode(body, gravity);
dBodySetLinearDamping(body, dampLinear);
dBodySetAngularDamping(body, dampAngular);
dBodySetMaxAngularSpeed(body, maxAngularSpeed);
dGeomSetBody(ed->rbe.body.geom, 0); dGeomSetBody(ed->rbe.body.geom, 0);
} }
} }
@ -2508,6 +2540,10 @@ static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
float bouncestop1 = 60.0f / 800.0f; float bouncestop1 = 60.0f / 800.0f;
float bouncefactor2 = 0.0f; float bouncefactor2 = 0.0f;
float bouncestop2 = 60.0f / 800.0f; float bouncestop2 = 60.0f / 800.0f;
float dampLinear1 = 1.0f;
float dampAngular1 = 1.0f;
float dampLinear2 = 1.0f;
float dampAngular2 = 1.0f;
float erp; float erp;
dVector3 grav; dVector3 grav;
wedict_t *ed1, *ed2; wedict_t *ed1, *ed2;
@ -2619,20 +2655,28 @@ static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
// add these contact points to the simulation // add these contact points to the simulation
for (i = 0;i < numcontacts;i++) for (i = 0;i < numcontacts;i++)
{ {
contact[i].surface.mode = (physics_ode_contact_mu->value != -1 ? dContactApprox1 : 0) | contact[i].surface.mode = dContactApprox1 |
(physics_ode_contact_erp->value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_erp->value != -1 ? dContactSoftERP : 0) |
(physics_ode_contact_cfm->value != -1 ? dContactSoftCFM : 0) | (physics_ode_contact_cfm->value != -1 ? dContactSoftCFM : 0) |
(bouncefactor1 > 0 ? dContactBounce : 0); (bouncefactor1 > 0 ? dContactBounce : 0);
contact[i].surface.mu = physics_ode_contact_mu->value;
if (ed1->xv->friction) if (physics_ode_contact_mu->value != -1) {
contact[i].surface.mu *= ed1->xv->friction; contact[i].surface.mu = physics_ode_contact_mu->value;
if (ed2->xv->friction)
contact[i].surface.mu *= ed2->xv->friction; if (ed1->xv->friction)
contact[i].surface.mu *= ed1->xv->friction;
if (ed2->xv->friction)
contact[i].surface.mu *= ed2->xv->friction;
} else {
contact[i].surface.mu = dInfinity;
}
contact[i].surface.mu2 = 0; contact[i].surface.mu2 = 0;
contact[i].surface.soft_erp = physics_ode_contact_erp->value + erp; contact[i].surface.soft_erp = physics_ode_contact_erp->value + erp;
contact[i].surface.soft_cfm = physics_ode_contact_cfm->value; contact[i].surface.soft_cfm = physics_ode_contact_cfm->value;
contact[i].surface.bounce = bouncefactor1; contact[i].surface.bounce = bouncefactor1;
contact[i].surface.bounce_vel = bouncestop1; contact[i].surface.bounce_vel = bouncestop1;
c = dJointCreateContact(ctx->dworld, ctx->contactgroup, contact + i); c = dJointCreateContact(ctx->dworld, ctx->contactgroup, contact + i);
dJointAttach(c, b1, b2); dJointAttach(c, b1, b2);
} }

5
engine/server/progdefs.h
View file

@ -302,6 +302,10 @@ and the extension fields are added on the end and can have extra vm-specific stu
comfieldfloat(mass,NULL)/*DP_...PHYSICS*/\ comfieldfloat(mass,NULL)/*DP_...PHYSICS*/\
comfieldfloat(bouncefactor,NULL)/*DP_...PHYSICS*/\ comfieldfloat(bouncefactor,NULL)/*DP_...PHYSICS*/\
comfieldfloat(bouncestop,NULL)/*DP_...PHYSICS*/\ comfieldfloat(bouncestop,NULL)/*DP_...PHYSICS*/\
comfieldfloat(damp_linear,NULL)/*FTE_...PHYSICS*/\
comfieldfloat(damp_angular,NULL)/*FTE_...PHYSICS*/\
comfieldfloat(max_angular,NULL)/*FTE_...PHYSICS*/\
comfieldfloat(jointgroup,NULL)/*FTE_...PHYSICS*/\
comfieldfloat(idealpitch,NULL)/*DP_QC_CHANGEPITCH (inconsistant naming)*/\ comfieldfloat(idealpitch,NULL)/*DP_QC_CHANGEPITCH (inconsistant naming)*/\
comfieldfloat(pitch_speed,NULL)/*DP_QC_CHANGEPITCH*/\ comfieldfloat(pitch_speed,NULL)/*DP_QC_CHANGEPITCH*/\
comextqcfieldshexen2 \ comextqcfieldshexen2 \
@ -562,6 +566,7 @@ typedef struct
qboolean physics; qboolean physics;
rbebody_t body; rbebody_t body;
rbejoint_t joint; rbejoint_t joint;
int jointgroup;
float *vertex3f; float *vertex3f;
int *element3i; int *element3i;
int numvertices; int numvertices;