/* Copyright (C) 1996-1997 Id Software, Inc. This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ /* ODE physics engine code This code is ported from DarkPlaces svn commit 9370 Originally written by LordHavoc. */ #include "quakedef.h" #include "pr_common.h" #include "glquake.h" #ifdef USEODE #pragma message("fixme: pitch values are probably inverted") //============================================================================ // physics engine support //============================================================================ //#ifndef ODE_STATIC //#define ODE_DYNAMIC 1 //#endif cvar_t physics_ode_quadtree_depth = CVARDP4(0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"); cvar_t physics_ode_contactsurfacelayer = CVARDP4(0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"); cvar_t physics_ode_worldquickstep = CVARDP4(0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStep"); cvar_t physics_ode_worldquickstep_iterations = CVARDP4(0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"); //physics_ode_worldstepfast dWorldStepFast1 is not present in more recent versions of ODE. thus we don't use it ever. cvar_t physics_ode_contact_mu = CVARDP4(0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"); cvar_t physics_ode_contact_erp = CVARDP4(0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"); cvar_t physics_ode_contact_cfm = CVARDP4(0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"); cvar_t physics_ode_world_erp = CVARDP4(0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"); cvar_t physics_ode_world_cfm = CVARDP4(0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"); cvar_t physics_ode_iterationsperframe = CVARDP4(0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"); cvar_t physics_ode_movelimit = CVARDP4(0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls"); cvar_t physics_ode_spinlimit = CVARDP4(0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"); // LordHavoc: this large chunk of definitions comes from the ODE library // include files. #ifdef ODE_STATIC #include "ode/ode.h" #else #ifdef WINAPI // ODE does not use WINAPI #define ODE_API VARGS /*vargs because fte likes to be compiled fastcall (vargs is defined as cdecl...)*/ #else #define ODE_API VARGS #endif #define DEG2RAD(d) (d * M_PI * (1/180.0f)) #define RAD2DEG(d) ((d*180) / M_PI) // note: dynamic builds of ODE tend to be double precision, this is not used // for static builds typedef double dReal; typedef dReal dVector3[4]; typedef dReal dVector4[4]; typedef dReal dMatrix3[4*3]; typedef dReal dMatrix4[4*4]; typedef dReal dMatrix6[8*6]; typedef dReal dQuaternion[4]; struct dxWorld; /* dynamics world */ struct dxSpace; /* collision space */ struct dxBody; /* rigid body (dynamics object) */ struct dxGeom; /* geometry (collision object) */ struct dxJoint; struct dxJointNode; struct dxJointGroup; struct dxTriMeshData; #define dInfinity 3.402823466e+38f typedef struct dxWorld *dWorldID; typedef struct dxSpace *dSpaceID; typedef struct dxBody *dBodyID; typedef struct dxGeom *dGeomID; typedef struct dxJoint *dJointID; typedef struct dxJointGroup *dJointGroupID; typedef struct dxTriMeshData *dTriMeshDataID; typedef struct dJointFeedback { dVector3 f1; /* force applied to body 1 */ dVector3 t1; /* torque applied to body 1 */ dVector3 f2; /* force applied to body 2 */ dVector3 t2; /* torque applied to body 2 */ } dJointFeedback; typedef enum dJointType { dJointTypeNone = 0, dJointTypeBall, dJointTypeHinge, dJointTypeSlider, dJointTypeContact, dJointTypeUniversal, dJointTypeHinge2, dJointTypeFixed, dJointTypeNull, dJointTypeAMotor, dJointTypeLMotor, dJointTypePlane2D, dJointTypePR, dJointTypePU, dJointTypePiston } dJointType; #define D_ALL_PARAM_NAMES(start) \ /* parameters for limits and motors */ \ dParamLoStop = start, \ dParamHiStop, \ dParamVel, \ dParamFMax, \ dParamFudgeFactor, \ dParamBounce, \ dParamCFM, \ dParamStopERP, \ dParamStopCFM, \ /* parameters for suspension */ \ dParamSuspensionERP, \ dParamSuspensionCFM, \ dParamERP, \ #define D_ALL_PARAM_NAMES_X(start,x) \ /* parameters for limits and motors */ \ dParamLoStop ## x = start, \ dParamHiStop ## x, \ dParamVel ## x, \ dParamFMax ## x, \ dParamFudgeFactor ## x, \ dParamBounce ## x, \ dParamCFM ## x, \ dParamStopERP ## x, \ dParamStopCFM ## x, \ /* parameters for suspension */ \ dParamSuspensionERP ## x, \ dParamSuspensionCFM ## x, \ dParamERP ## x, enum { D_ALL_PARAM_NAMES(0) D_ALL_PARAM_NAMES_X(0x100,2) D_ALL_PARAM_NAMES_X(0x200,3) /* add a multiple of this constant to the basic parameter numbers to get * the parameters for the second, third etc axes. */ dParamGroup=0x100 }; typedef struct dMass { dReal mass; dVector3 c; dMatrix3 I; } dMass; enum { dContactMu2 = 0x001, dContactFDir1 = 0x002, dContactBounce = 0x004, dContactSoftERP = 0x008, dContactSoftCFM = 0x010, dContactMotion1 = 0x020, dContactMotion2 = 0x040, dContactMotionN = 0x080, dContactSlip1 = 0x100, dContactSlip2 = 0x200, dContactApprox0 = 0x0000, dContactApprox1_1 = 0x1000, dContactApprox1_2 = 0x2000, dContactApprox1 = 0x3000 }; typedef struct dSurfaceParameters { /* must always be defined */ int mode; dReal mu; /* only defined if the corresponding flag is set in mode */ dReal mu2; dReal bounce; dReal bounce_vel; dReal soft_erp; dReal soft_cfm; dReal motion1,motion2,motionN; dReal slip1,slip2; } dSurfaceParameters; typedef struct dContactGeom { dVector3 pos; ///< contact position dVector3 normal; ///< normal vector dReal depth; ///< penetration depth dGeomID g1,g2; ///< the colliding geoms int side1,side2; ///< (to be documented) } dContactGeom; typedef struct dContact { dSurfaceParameters surface; dContactGeom geom; dVector3 fdir1; } dContact; typedef void VARGS dNearCallback (void *data, dGeomID o1, dGeomID o2); // SAP // Order XZY or ZXY usually works best, if your Y is up. #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) //const char* (ODE_API *dGetConfiguration)(void); int (ODE_API *dCheckConfiguration)( const char* token ); int (ODE_API *dInitODE)(void); //int (ODE_API *dInitODE2)(unsigned int uiInitFlags); //int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags); //void (ODE_API *dCleanupODEAllDataForThread)(void); void (ODE_API *dCloseODE)(void); //int (ODE_API *dMassCheck)(const dMass *m); //void (ODE_API *dMassSetZero)(dMass *); //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); //void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius); void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); //void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); //void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); //void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g); //void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); //void (ODE_API *dMassAdjust)(dMass *, dReal newmass); //void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z); //void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R); //void (ODE_API *dMassAdd)(dMass *a, const dMass *b); // dWorldID (ODE_API *dWorldCreate)(void); void (ODE_API *dWorldDestroy)(dWorldID world); void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity); void (ODE_API *dWorldSetERP)(dWorldID, dReal erp); //dReal (ODE_API *dWorldGetERP)(dWorldID); void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm); //dReal (ODE_API *dWorldGetCFM)(dWorldID); void (ODE_API *dWorldStep)(dWorldID, dReal stepsize); //void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize); void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); //int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID); //void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); //dReal (ODE_API *dWorldGetQuickStepW)(dWorldID); //void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); //void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); //dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); //dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); //dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); //int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID); //void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); //int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID); //void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps); //dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID); //void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time); //int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID); //void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); //dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w); //void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); //dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w); //void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); //dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w); //void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale); //dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w); //void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale); //void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); //dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w); //void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); //dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID); //void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); //dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID); //void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); //int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID); //void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); //int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID); //void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps); //dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID); //void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time); //int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID); //void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); //void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID); //dWorldID (ODE_API *dBodyGetWorld)(dBodyID); dBodyID (ODE_API *dBodyCreate)(dWorldID); void (ODE_API *dBodyDestroy)(dBodyID); void (ODE_API *dBodySetData)(dBodyID, void *data); void * (ODE_API *dBodyGetData)(dBodyID); void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R); //void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q); void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); const dReal * (ODE_API *dBodyGetPosition)(dBodyID); //void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos); const dReal * (ODE_API *dBodyGetRotation)(dBodyID); //void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R); //const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID); //void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID); const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID); void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); //void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass); //void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //const dReal * (ODE_API *dBodyGetForce)(dBodyID); //const dReal * (ODE_API *dBodyGetTorque)(dBodyID); //void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); //void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); //void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode); //void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); //int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID); //void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); int (ODE_API *dBodyGetNumJoints)(dBodyID b); dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); //void (ODE_API *dBodySetDynamic)(dBodyID); //void (ODE_API *dBodySetKinematic)(dBodyID); //int (ODE_API *dBodyIsKinematic)(dBodyID); //void (ODE_API *dBodyEnable)(dBodyID); //void (ODE_API *dBodyDisable)(dBodyID); //int (ODE_API *dBodyIsEnabled)(dBodyID); void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); int (ODE_API *dBodyGetGravityMode)(dBodyID b); //void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID)); //dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b); //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); //void (ODE_API *dBodySetDampingDefaults)(dBodyID b); //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); //void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); //void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); //void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID); void (ODE_API *dJointDestroy)(dJointID); dJointGroupID (ODE_API *dJointGroupCreate)(int max_size); void (ODE_API *dJointGroupDestroy)(dJointGroupID); void (ODE_API *dJointGroupEmpty)(dJointGroupID); //int (ODE_API *dJointGetNumBodies)(dJointID); void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2); //void (ODE_API *dJointEnable)(dJointID); //void (ODE_API *dJointDisable)(dJointID); //int (ODE_API *dJointIsEnabled)(dJointID); void (ODE_API *dJointSetData)(dJointID, void *data); void * (ODE_API *dJointGetData)(dJointID); //dJointType (ODE_API *dJointGetType)(dJointID); dBodyID (ODE_API *dJointGetBody)(dJointID, int index); //void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *); //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID); void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value); void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque); void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force); void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); //void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque); //void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque); //void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force); //void (ODE_API *dJointSetFixed)(dJointID); //void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num); //void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle); //void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetAMotorMode)(dJointID, int mode); //void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); //void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num); //void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter); //void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetHingeAngle)(dJointID); //dReal (ODE_API *dJointGetHingeAngleRate)(dJointID); //dReal (ODE_API *dJointGetSliderPosition)(dJointID); //dReal (ODE_API *dJointGetSliderPositionRate)(dJointID); //void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter); //void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter); //dReal (ODE_API *dJointGetHinge2Angle1)(dJointID); //dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID); //dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID); //void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter); //void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); //dReal (ODE_API *dJointGetUniversalAngle1)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle2)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID); //void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPRPosition)(dJointID); //dReal (ODE_API *dJointGetPRPositionRate)(dJointID); //dReal (ODE_API *dJointGetPRAngle)(dJointID); //dReal (ODE_API *dJointGetPRAngleRate)(dJointID); //void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter); //void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPUPosition)(dJointID); //dReal (ODE_API *dJointGetPUPositionRate)(dJointID); //void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result); //void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); //dReal (ODE_API *dJointGetPUAngle1)(dJointID); //dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID); //dReal (ODE_API *dJointGetPUAngle2)(dJointID); //dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID); //dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetPistonPosition)(dJointID); //dReal (ODE_API *dJointGetPistonPositionRate)(dJointID); //dReal (ODE_API *dJointGetPistonAngle)(dJointID); //dReal (ODE_API *dJointGetPistonAngleRate)(dJointID); //void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter); //int (ODE_API *dJointGetAMotorNumAxes)(dJointID); //void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); //int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter); //int (ODE_API *dJointGetAMotorMode)(dJointID); //int (ODE_API *dJointGetLMotorNumAxes)(dJointID); //void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); //dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter); //dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID); //int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*); int (ODE_API *dAreConnected)(dBodyID, dBodyID); int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); // dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space); dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space); dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); //dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); void (ODE_API *dSpaceDestroy)(dSpaceID); //void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); //void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); //void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode); //int (ODE_API *dSpaceGetCleanup)(dSpaceID space); //void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel); //int (ODE_API *dSpaceGetSublevel)(dSpaceID space); //void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode); //int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space); //void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID); //void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID); //int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID); //void (ODE_API *dSpaceClean)(dSpaceID); //int (ODE_API *dSpaceGetNumGeoms)(dSpaceID); //dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i); //int (ODE_API *dSpaceGetClass)(dSpaceID space); // void (ODE_API *dGeomDestroy)(dGeomID geom); void (ODE_API *dGeomSetData)(dGeomID geom, void* data); void * (ODE_API *dGeomGetData)(dGeomID geom); void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body); dBodyID (ODE_API *dGeomGetBody)(dGeomID geom); void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); //const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom); //void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos); //const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom); //void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R); //void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result); //void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]); int (ODE_API *dGeomIsSpace)(dGeomID geom); //dSpaceID (ODE_API *dGeomGetSpace)(dGeomID); //int (ODE_API *dGeomGetClass)(dGeomID geom); //void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); //void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits); //unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID); //unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID); //void (ODE_API *dGeomEnable)(dGeomID geom); //void (ODE_API *dGeomDisable)(dGeomID geom); //int (ODE_API *dGeomIsEnabled)(dGeomID geom); //void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); //void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); //void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); //void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); //void (ODE_API *dGeomClearOffset)(dGeomID geom); //int (ODE_API *dGeomIsOffset)(dGeomID geom); //const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom); //void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); //const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom); //void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); //void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); // void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); // dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius); //void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius); //dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere); //dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); // //dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); //void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); // dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); //void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); //void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result); //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); // //dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); //void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); //void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result); //dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); // dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length); //void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); //void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); //dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); // //dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length); //void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); //void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); // //dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length); //void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length); //dReal (ODE_API *dGeomRayGetLength)(dGeomID ray); //void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); //void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); // dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space); void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj); //dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g); void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode); //int (ODE_API *dGeomTransformGetCleanup)(dGeomID g); //void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode); //int (ODE_API *dGeomTransformGetInfo)(dGeomID g); enum { TRIMESH_FACE_NORMALS }; typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void); void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g); //void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); //void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); //void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans ); //dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g ); void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); //void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); //void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g); //void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); //void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); //void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); //dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g); dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); //void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); //dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g); //void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); //int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); //void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g); //dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g); //void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); //void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); //int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g); //void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g); static dllfunction_t odefuncs[] = { // {"dGetConfiguration", (void **) &dGetConfiguration}, {(void **) &dCheckConfiguration, "dCheckConfiguration"}, {(void **) &dInitODE, "dInitODE"}, // {"dInitODE2", (void **) &dInitODE2}, // {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread}, // {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread}, {(void **) &dCloseODE, "dCloseODE"}, // {"dMassCheck", (void **) &dMassCheck}, // {"dMassSetZero", (void **) &dMassSetZero}, // {"dMassSetParameters", (void **) &dMassSetParameters}, // {"dMassSetSphere", (void **) &dMassSetSphere}, {(void **) &dMassSetSphereTotal, "dMassSetSphereTotal"}, // {"dMassSetCapsule", (void **) &dMassSetCapsule}, {(void **) &dMassSetCapsuleTotal, "dMassSetCapsuleTotal"}, // {"dMassSetCylinder", (void **) &dMassSetCylinder}, // {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal}, // {"dMassSetBox", (void **) &dMassSetBox}, {(void **) &dMassSetBoxTotal, "dMassSetBoxTotal"}, // {"dMassSetTrimesh", (void **) &dMassSetTrimesh}, // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal}, // {"dMassAdjust", (void **) &dMassAdjust}, // {"dMassTranslate", (void **) &dMassTranslate}, // {"dMassRotate", (void **) &dMassRotate}, // {"dMassAdd", (void **) &dMassAdd}, {(void **) &dWorldCreate, "dWorldCreate"}, {(void **) &dWorldDestroy, "dWorldDestroy"}, {(void **) &dWorldSetGravity, "dWorldSetGravity"}, {(void **) &dWorldGetGravity, "dWorldGetGravity"}, {(void **) &dWorldSetERP, "dWorldSetERP"}, // {"dWorldGetERP", (void **) &dWorldGetERP}, {(void **) &dWorldSetCFM, "dWorldSetCFM"}, // {"dWorldGetCFM", (void **) &dWorldGetCFM}, {(void **) &dWorldStep, "dWorldStep"}, // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, {(void **) &dWorldQuickStep, "dWorldQuickStep"}, {(void **) &dWorldSetQuickStepNumIterations, "dWorldSetQuickStepNumIterations"}, // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations}, // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW}, // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW}, // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel}, // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, {(void **) &dWorldSetContactSurfaceLayer, "dWorldSetContactSurfaceLayer"}, // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, // {(void **) &dWorldStepFast1, "dWorldStepFast1"}, // {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1}, // {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1}, // {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold}, // {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold}, // {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold}, // {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold}, // {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold}, // {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold}, // {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold}, // {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold}, // {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount}, // {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount}, // {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps}, // {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps}, // {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime}, // {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime}, // {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag}, // {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag}, // {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold}, // {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold}, // {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold}, // {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold}, // {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping}, // {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping}, // {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping}, // {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping}, // {"dWorldSetDamping", (void **) &dWorldSetDamping}, // {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed}, // {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed}, // {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold}, // {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold}, // {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold}, // {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold}, // {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount}, // {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount}, // {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps}, // {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps}, // {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime}, // {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime}, // {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag}, // {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag}, // {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults}, // {"dBodyGetWorld", (void **) &dBodyGetWorld}, {(void **) &dBodyCreate, "dBodyCreate"}, {(void **) &dBodyDestroy, "dBodyDestroy"}, {(void **) &dBodySetData, "dBodySetData"}, {(void **) &dBodyGetData, "dBodyGetData"}, {(void **) &dBodySetPosition, "dBodySetPosition"}, {(void **) &dBodySetRotation, "dBodySetRotation"}, // {"dBodySetQuaternion", (void **) &dBodySetQuaternion}, {(void **) &dBodySetLinearVel, "dBodySetLinearVel"}, {(void **) &dBodySetAngularVel, "dBodySetAngularVel"}, {(void **) &dBodyGetPosition, "dBodyGetPosition"}, // {"dBodyCopyPosition", (void **) &dBodyCopyPosition}, {(void **) &dBodyGetRotation, "dBodyGetRotation"}, // {"dBodyCopyRotation", (void **) &dBodyCopyRotation}, // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion}, // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion}, {(void **) &dBodyGetLinearVel, "dBodyGetLinearVel"}, {(void **) &dBodyGetAngularVel, "dBodyGetAngularVel"}, {(void **) &dBodySetMass, "dBodySetMass"}, // {"dBodyGetMass", (void **) &dBodyGetMass}, // {"dBodyAddForce", (void **) &dBodyAddForce}, // {"dBodyAddTorque", (void **) &dBodyAddTorque}, // {"dBodyAddRelForce", (void **) &dBodyAddRelForce}, // {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque}, // {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos}, // {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos}, // {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos}, // {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos}, // {"dBodyGetForce", (void **) &dBodyGetForce}, // {"dBodyGetTorque", (void **) &dBodyGetTorque}, // {"dBodySetForce", (void **) &dBodySetForce}, // {"dBodySetTorque", (void **) &dBodySetTorque}, // {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos}, // {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel}, // {"dBodyGetPointVel", (void **) &dBodyGetPointVel}, // {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint}, // {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld}, // {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld}, // {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode}, // {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis}, // {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode}, // {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis}, {(void **) &dBodyGetNumJoints, "dBodyGetNumJoints"}, {(void **) &dBodyGetJoint, "dBodyGetJoint"}, // {"dBodySetDynamic", (void **) &dBodySetDynamic}, // {"dBodySetKinematic", (void **) &dBodySetKinematic}, // {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, // {"dBodyEnable", (void **) &dBodyEnable}, // {"dBodyDisable", (void **) &dBodyDisable}, // {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, {(void **) &dBodySetGravityMode, "dBodySetGravityMode"}, {(void **) &dBodyGetGravityMode, "dBodyGetGravityMode"}, // {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback}, // {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom}, // {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom}, // {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults}, // {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping}, // {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping}, // {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping}, // {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping}, // {"dBodySetDamping", (void **) &dBodySetDamping}, // {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold}, // {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold}, // {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold}, // {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold}, // {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed}, // {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed}, // {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode}, // {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode}, {(void **) &dJointCreateBall, "dJointCreateBall"}, {(void **) &dJointCreateHinge, "dJointCreateHinge"}, {(void **) &dJointCreateSlider, "dJointCreateSlider"}, {(void **) &dJointCreateContact, "dJointCreateContact"}, {(void **) &dJointCreateHinge2, "dJointCreateHinge2"}, {(void **) &dJointCreateUniversal, "dJointCreateUniversal"}, // {"dJointCreatePR", (void **) &dJointCreatePR}, // {"dJointCreatePU", (void **) &dJointCreatePU}, // {"dJointCreatePiston", (void **) &dJointCreatePiston}, {(void **) &dJointCreateFixed, "dJointCreateFixed"}, // {"dJointCreateNull", (void **) &dJointCreateNull}, // {"dJointCreateAMotor", (void **) &dJointCreateAMotor}, // {"dJointCreateLMotor", (void **) &dJointCreateLMotor}, // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D}, {(void **) &dJointDestroy, "dJointDestroy"}, {(void **) &dJointGroupCreate, "dJointGroupCreate"}, {(void **) &dJointGroupDestroy, "dJointGroupDestroy"}, {(void **) &dJointGroupEmpty, "dJointGroupEmpty"}, // {"dJointGetNumBodies", (void **) &dJointGetNumBodies}, {(void **) &dJointAttach, "dJointAttach"}, // {"dJointEnable", (void **) &dJointEnable}, // {"dJointDisable", (void **) &dJointDisable}, // {"dJointIsEnabled", (void **) &dJointIsEnabled}, {(void **) &dJointSetData, "dJointSetData"}, {(void **) &dJointGetData, "dJointGetData"}, // {"dJointGetType", (void **) &dJointGetType}, {(void **) &dJointGetBody, "dJointGetBody"}, // {"dJointSetFeedback", (void **) &dJointSetFeedback}, // {"dJointGetFeedback", (void **) &dJointGetFeedback}, {(void **) &dJointSetBallAnchor, "dJointSetBallAnchor"}, // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2}, {(void **) &dJointSetBallParam, "dJointSetBallParam"}, {(void **) &dJointSetHingeAnchor, "dJointSetHingeAnchor"}, // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta}, {(void **) &dJointSetHingeAxis, "dJointSetHingeAxis"}, // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset}, {(void **) &dJointSetHingeParam, "dJointSetHingeParam"}, // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque}, {(void **) &dJointSetSliderAxis, "dJointSetSliderAxis"}, // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta}, {(void **) &dJointSetSliderParam, "dJointSetSliderParam"}, // {"dJointAddSliderForce", (void **) &dJointAddSliderForce}, {(void **) &dJointSetHinge2Anchor, "dJointSetHinge2Anchor"}, {(void **) &dJointSetHinge2Axis1, "dJointSetHinge2Axis1"}, {(void **) &dJointSetHinge2Axis2, "dJointSetHinge2Axis2"}, {(void **) &dJointSetHinge2Param, "dJointSetHinge2Param"}, // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques}, {(void **) &dJointSetUniversalAnchor, "dJointSetUniversalAnchor"}, {(void **) &dJointSetUniversalAxis1, "dJointSetUniversalAxis1"}, // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset}, {(void **) &dJointSetUniversalAxis2, "dJointSetUniversalAxis2"}, // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset}, {(void **) &dJointSetUniversalParam, "dJointSetUniversalParam"}, // {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques}, // {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor}, // {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1}, // {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2}, // {"dJointSetPRParam", (void **) &dJointSetPRParam}, // {"dJointAddPRTorque", (void **) &dJointAddPRTorque}, // {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor}, // {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset}, // {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1}, // {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2}, // {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3}, // {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP}, // {"dJointSetPUParam", (void **) &dJointSetPUParam}, // {"dJointAddPUTorque", (void **) &dJointAddPUTorque}, // {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor}, // {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset}, // {"dJointSetPistonParam", (void **) &dJointSetPistonParam}, // {"dJointAddPistonForce", (void **) &dJointAddPistonForce}, // {"dJointSetFixed", (void **) &dJointSetFixed}, // {"dJointSetFixedParam", (void **) &dJointSetFixedParam}, // {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes}, // {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis}, // {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle}, // {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam}, // {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode}, // {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques}, // {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes}, // {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis}, // {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam}, // {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam}, // {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam}, // {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam}, // {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor}, // {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2}, // {"dJointGetBallParam", (void **) &dJointGetBallParam}, // {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor}, // {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2}, // {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis}, // {"dJointGetHingeParam", (void **) &dJointGetHingeParam}, // {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle}, // {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate}, // {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition}, // {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate}, // {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis}, // {"dJointGetSliderParam", (void **) &dJointGetSliderParam}, // {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor}, // {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2}, // {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1}, // {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2}, // {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param}, // {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1}, // {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate}, // {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate}, // {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor}, // {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2}, // {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1}, // {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2}, // {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam}, // {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles}, // {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1}, // {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2}, // {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate}, // {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate}, // {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor}, // {"dJointGetPRPosition", (void **) &dJointGetPRPosition}, // {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate}, // {"dJointGetPRAngle", (void **) &dJointGetPRAngle}, // {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate}, // {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1}, // {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2}, // {"dJointGetPRParam", (void **) &dJointGetPRParam}, // {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor}, // {"dJointGetPUPosition", (void **) &dJointGetPUPosition}, // {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate}, // {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1}, // {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2}, // {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3}, // {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP}, // {"dJointGetPUAngles", (void **) &dJointGetPUAngles}, // {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1}, // {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate}, // {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2}, // {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate}, // {"dJointGetPUParam", (void **) &dJointGetPUParam}, // {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition}, // {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate}, // {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle}, // {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate}, // {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor}, // {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2}, // {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis}, // {"dJointGetPistonParam", (void **) &dJointGetPistonParam}, // {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes}, // {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis}, // {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel}, // {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle}, // {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate}, // {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam}, // {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode}, // {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes}, // {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis}, // {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam}, // {"dJointGetFixedParam", (void **) &dJointGetFixedParam}, // {"dConnectingJoint", (void **) &dConnectingJoint}, // {"dConnectingJointList", (void **) &dConnectingJointList}, {(void **) &dAreConnected, "dAreConnected"}, {(void **) &dAreConnectedExcluding, "dAreConnectedExcluding"}, {(void **) &dSimpleSpaceCreate, "dSimpleSpaceCreate"}, {(void **) &dHashSpaceCreate, "dHashSpaceCreate"}, {(void **) &dQuadTreeSpaceCreate, "dQuadTreeSpaceCreate"}, // {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate}, {(void **) &dSpaceDestroy, "dSpaceDestroy"}, // {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels}, // {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels}, // {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup}, // {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup}, // {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel}, // {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel}, // {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup}, // {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup}, // {"dSpaceAdd", (void **) &dSpaceAdd}, // {"dSpaceRemove", (void **) &dSpaceRemove}, // {"dSpaceQuery", (void **) &dSpaceQuery}, // {"dSpaceClean", (void **) &dSpaceClean}, // {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms}, // {"dSpaceGetGeom", (void **) &dSpaceGetGeom}, // {"dSpaceGetClass", (void **) &dSpaceGetClass}, {(void **) &dGeomDestroy, "dGeomDestroy"}, {(void **) &dGeomSetData, "dGeomSetData"}, {(void **) &dGeomGetData, "dGeomGetData"}, {(void **) &dGeomSetBody, "dGeomSetBody"}, {(void **) &dGeomGetBody, "dGeomGetBody"}, {(void **) &dGeomSetPosition, "dGeomSetPosition"}, {(void **) &dGeomSetRotation, "dGeomSetRotation"}, // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion}, // {"dGeomGetPosition", (void **) &dGeomGetPosition}, // {"dGeomCopyPosition", (void **) &dGeomCopyPosition}, // {"dGeomGetRotation", (void **) &dGeomGetRotation}, // {"dGeomCopyRotation", (void **) &dGeomCopyRotation}, // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion}, // {"dGeomGetAABB", (void **) &dGeomGetAABB}, {(void **) &dGeomIsSpace, "dGeomIsSpace"}, // {"dGeomGetSpace", (void **) &dGeomGetSpace}, // {"dGeomGetClass", (void **) &dGeomGetClass}, // {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits}, // {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits}, // {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits}, // {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits}, // {"dGeomEnable", (void **) &dGeomEnable}, // {"dGeomDisable", (void **) &dGeomDisable}, // {"dGeomIsEnabled", (void **) &dGeomIsEnabled}, // {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition}, // {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation}, // {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion}, // {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition}, // {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation}, // {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion}, // {"dGeomClearOffset", (void **) &dGeomClearOffset}, // {"dGeomIsOffset", (void **) &dGeomIsOffset}, // {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition}, // {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition}, // {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation}, // {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation}, // {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion}, {(void **) &dCollide, "dCollide"}, {(void **) &dSpaceCollide, "dSpaceCollide"}, {(void **) &dSpaceCollide2, "dSpaceCollide2"}, {(void **) &dCreateSphere, "dCreateSphere"}, // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, // {"dCreateConvex", (void **) &dCreateConvex}, // {"dGeomSetConvex", (void **) &dGeomSetConvex}, {(void **) &dCreateBox, "dCreateBox"}, // {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths}, // {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths}, // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, // {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth}, // {"dCreatePlane", (void **) &dCreatePlane}, // {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams}, // {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams}, // {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth}, {(void **) &dCreateCapsule, "dCreateCapsule"}, // {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams}, // {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams}, // {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth}, // {"dCreateCylinder", (void **) &dCreateCylinder}, // {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams}, // {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams}, // {"dCreateRay", (void **) &dCreateRay}, // {"dGeomRaySetLength", (void **) &dGeomRaySetLength}, // {"dGeomRayGetLength", (void **) &dGeomRayGetLength}, // {"dGeomRaySet", (void **) &dGeomRaySet}, // {"dGeomRayGet", (void **) &dGeomRayGet}, {(void **) &dCreateGeomTransform, "dCreateGeomTransform"}, {(void **) &dGeomTransformSetGeom, "dGeomTransformSetGeom"}, // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom}, {(void **) &dGeomTransformSetCleanup, "dGeomTransformSetCleanup"}, // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup}, // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo}, // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo}, {(void **) &dGeomTriMeshDataCreate, "dGeomTriMeshDataCreate"}, {(void **) &dGeomTriMeshDataDestroy, "dGeomTriMeshDataDestroy"}, // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet}, // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet}, // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform}, // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform}, {(void **) &dGeomTriMeshDataBuildSingle, "dGeomTriMeshDataBuildSingle"}, // {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1}, // {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble}, // {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1}, // {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple}, // {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1}, // {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess}, // {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer}, // {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer}, // {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback}, // {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback}, // {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback}, // {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback}, // {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback}, // {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback}, // {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback}, // {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback}, {(void **) &dCreateTriMesh, "dCreateTriMesh"}, // {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData}, // {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData}, // {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC}, // {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled}, // {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache}, // {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID}, // {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle}, // {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint}, // {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount}, // {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate}, {NULL, NULL} }; // Handle for ODE DLL dllhandle_t ode_dll = NULL; #endif void World_Physics_Init(void) { #ifdef ODE_DYNAMIC const char* dllname = { # if defined(WIN64) "libode1_64.dll" # elif defined(WIN32) "libode1.dll" # elif defined(MACOSX) "libode.1.dylib" # else "libode.so.1" # endif }; #endif Cvar_Register(&physics_ode_quadtree_depth, "ODE Physics Library"); Cvar_Register(&physics_ode_contactsurfacelayer, "ODE Physics Library"); Cvar_Register(&physics_ode_worldquickstep, "ODE Physics Library"); Cvar_Register(&physics_ode_worldquickstep_iterations, "ODE Physics Library"); Cvar_Register(&physics_ode_contact_mu, "ODE Physics Library"); Cvar_Register(&physics_ode_contact_erp, "ODE Physics Library"); Cvar_Register(&physics_ode_contact_cfm, "ODE Physics Library"); Cvar_Register(&physics_ode_world_erp, "ODE Physics Library"); Cvar_Register(&physics_ode_world_cfm, "ODE Physics Library"); Cvar_Register(&physics_ode_iterationsperframe, "ODE Physics Library"); Cvar_Register(&physics_ode_movelimit, "ODE Physics Library"); Cvar_Register(&physics_ode_spinlimit, "ODE Physics Library"); #ifdef ODE_DYNAMIC // Load the DLL ode_dll = Sys_LoadLibrary(dllname, odefuncs); if (ode_dll) #endif { dInitODE(); // dInitODE2(0); #ifdef ODE_DYNAMIC # ifdef dSINGLE if (!dCheckConfiguration("ODE_single_precision")) # else if (!dCheckConfiguration("ODE_double_precision")) # endif { # ifdef dSINGLE Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n"); # else Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n"); # endif Sys_CloseLibrary(ode_dll); ode_dll = NULL; } #endif } } void World_Physics_Shutdown(void) { #ifdef ODE_DYNAMIC if (ode_dll) #endif { dCloseODE(); #ifdef ODE_DYNAMIC Sys_CloseLibrary(&ode_dll); ode_dll = NULL; #endif } } static void World_Physics_EnableODE(world_t *world) { dVector3 center, extents; if (world->ode.ode) return; #ifdef ODE_DYNAMIC if (!ode_dll) return; #endif world->ode.ode = true; VectorAvg(world->worldmodel->mins, world->worldmodel->maxs, center); VectorSubtract(world->worldmodel->maxs, center, extents); world->ode.ode_world = dWorldCreate(); world->ode.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.ival, 10)); world->ode.ode_contactgroup = dJointGroupCreate(0); if(physics_ode_world_erp.value >= 0) dWorldSetERP(world->ode.ode_world, physics_ode_world_erp.value); if(physics_ode_world_cfm.value >= 0) dWorldSetCFM(world->ode.ode_world, physics_ode_world_cfm.value); } void World_Physics_Start(world_t *world) { if (world->ode.ode) return; World_Physics_EnableODE(world); } void World_Physics_End(world_t *world) { if (world->ode.ode) { dWorldDestroy(world->ode.ode_world); dSpaceDestroy(world->ode.ode_space); dJointGroupDestroy(world->ode.ode_contactgroup); world->ode.ode = false; } } void World_Physics_RemoveJointFromEntity(world_t *world, wedict_t *ed) { ed->ode.ode_joint_type = 0; if(ed->ode.ode_joint) dJointDestroy((dJointID)ed->ode.ode_joint); ed->ode.ode_joint = NULL; } void World_Physics_RemoveFromEntity(world_t *world, wedict_t *ed) { if (!ed->ode.ode_physics) return; // entity is not physics controlled, free any physics data ed->ode.ode_physics = false; if (ed->ode.ode_geom) dGeomDestroy((dGeomID)ed->ode.ode_geom); ed->ode.ode_geom = NULL; if (ed->ode.ode_body) { dJointID j; dBodyID b1, b2; wedict_t *ed2; while(dBodyGetNumJoints((dBodyID)ed->ode.ode_body)) { j = dBodyGetJoint((dBodyID)ed->ode.ode_body, 0); ed2 = (wedict_t *) dJointGetData(j); b1 = dJointGetBody(j, 0); b2 = dJointGetBody(j, 1); if(b1 == (dBodyID)ed->ode.ode_body) { b1 = 0; ed2->ode.ode_joint_enemy = 0; } if(b2 == (dBodyID)ed->ode.ode_body) { b2 = 0; ed2->ode.ode_joint_aiment = 0; } dJointAttach(j, b1, b2); } dBodyDestroy((dBodyID)ed->ode.ode_body); } ed->ode.ode_body = NULL; if (ed->ode.ode_vertex3f) BZ_Free(ed->ode.ode_vertex3f); ed->ode.ode_vertex3f = NULL; ed->ode.ode_numvertices = 0; if (ed->ode.ode_element3i) BZ_Free(ed->ode.ode_element3i); ed->ode.ode_element3i = NULL; ed->ode.ode_numtriangles = 0; if(ed->ode.ode_massbuf) BZ_Free(ed->ode.ode_massbuf); ed->ode.ode_massbuf = NULL; } static void World_Physics_Frame_BodyToEntity(world_t *world, wedict_t *ed) { model_t *model; const dReal *avel; const dReal *o; const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix const dReal *vel; dBodyID body = (dBodyID)ed->ode.ode_body; int movetype; float bodymatrix[16]; float entitymatrix[16]; vec3_t angles; vec3_t avelocity; vec3_t forward, left, up; vec3_t origin; vec3_t spinvelocity; vec3_t velocity; if (!body) return; movetype = (int)ed->v->movetype; if (movetype != MOVETYPE_PHYSICS) { switch((int)ed->xv->jointtype) { // TODO feed back data from physics case JOINTTYPE_POINT: break; case JOINTTYPE_HINGE: break; case JOINTTYPE_SLIDER: break; case JOINTTYPE_UNIVERSAL: break; case JOINTTYPE_HINGE2: break; case JOINTTYPE_FIXED: break; } return; } // store the physics engine data into the entity o = dBodyGetPosition(body); r = dBodyGetRotation(body); vel = dBodyGetLinearVel(body); avel = dBodyGetAngularVel(body); VectorCopy(o, origin); forward[0] = r[0]; forward[1] = r[4]; forward[2] = r[8]; left[0] = r[1]; left[1] = r[5]; left[2] = r[9]; up[0] = r[2]; up[1] = r[6]; up[2] = r[10]; VectorCopy(vel, velocity); VectorCopy(avel, spinvelocity); Matrix4Q_FromVectors(bodymatrix, forward, left, up, origin); Matrix4_Multiply(ed->ode.ode_offsetimatrix, bodymatrix, entitymatrix); Matrix4Q_ToVectors(entitymatrix, forward, left, up, origin); VectorAngles(forward, up, angles); angles[0]*=-1; avelocity[PITCH] = RAD2DEG(spinvelocity[PITCH]); avelocity[YAW] = RAD2DEG(spinvelocity[ROLL]); avelocity[ROLL] = RAD2DEG(spinvelocity[YAW]); if (ed->v->modelindex) { model = world->GetCModel(world, ed->v->modelindex); if (!model || model->type == mod_alias) { angles[PITCH] *= -1; avelocity[PITCH] *= -1; } } VectorCopy(origin, ed->v->origin); VectorCopy(velocity, ed->v->velocity); //vVectorCopy(forward, ed->xv->axis_forward); //VectorCopy(left, ed->xv->axis_left); //VectorCopy(up, ed->xv->axis_up); //VectorCopy(spinvelocity, ed->xv->spinvelocity); VectorCopy(angles, ed->v->angles); VectorCopy(avelocity, ed->v->avelocity); // values for BodyFromEntity to check if the qc modified anything later VectorCopy(origin, ed->ode.ode_origin); VectorCopy(velocity, ed->ode.ode_velocity); VectorCopy(angles, ed->ode.ode_angles); VectorCopy(avelocity, ed->ode.ode_avelocity); ed->ode.ode_gravity = dBodyGetGravityMode(body); World_LinkEdict(world, ed, true); } static void World_Physics_Frame_JointFromEntity(world_t *world, wedict_t *ed) { dJointID j = 0; dBodyID b1 = 0; dBodyID b2 = 0; int movetype = 0; int jointtype = 0; int enemy = 0, aiment = 0; wedict_t *o; vec3_t origin, velocity, angles, forward, left, up, movedir; vec_t CFM, ERP, FMax, Stop, Vel; VectorClear(origin); VectorClear(velocity); VectorClear(angles); VectorClear(movedir); movetype = (int)ed->v->movetype; jointtype = (int)ed->xv->jointtype; enemy = ed->v->enemy; aiment = ed->v->aiment; VectorCopy(ed->v->origin, origin); VectorCopy(ed->v->velocity, velocity); VectorCopy(ed->v->angles, angles); VectorCopy(ed->v->movedir, movedir); if(movetype == MOVETYPE_PHYSICS) jointtype = 0; // can't have both o = (wedict_t*)PROG_TO_EDICT(world->progs, enemy); if(o->isfree || o->ode.ode_body == 0) enemy = 0; o = (wedict_t*)PROG_TO_EDICT(world->progs, aiment); if(o->isfree || o->ode.ode_body == 0) aiment = 0; // see http://www.ode.org/old_list_archives/2006-January/017614.html // we want to set ERP? make it fps independent and work like a spring constant // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K) if(movedir[0] > 0 && movedir[1] > 0) { float K = movedir[0]; float D = movedir[1]; float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass) CFM = 1.0 / (world->ode.ode_step * K + R); // always > 0 ERP = world->ode.ode_step * K * CFM; Vel = 0; FMax = 0; Stop = movedir[2]; } else if(movedir[1] < 0) { CFM = 0; ERP = 0; Vel = movedir[0]; FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step? Stop = movedir[2] > 0 ? movedir[2] : dInfinity; } else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0 { CFM = 0; ERP = 0; Vel = 0; FMax = 0; Stop = dInfinity; } if(jointtype == ed->ode.ode_joint_type && VectorCompare(origin, ed->ode.ode_joint_origin) && VectorCompare(velocity, ed->ode.ode_joint_velocity) && VectorCompare(angles, ed->ode.ode_joint_angles) && enemy == ed->ode.ode_joint_enemy && aiment == ed->ode.ode_joint_aiment && VectorCompare(movedir, ed->ode.ode_joint_movedir)) return; // nothing to do AngleVectorsFLU(angles, forward, left, up); switch(jointtype) { case JOINTTYPE_POINT: j = dJointCreateBall(world->ode.ode_world, 0); break; case JOINTTYPE_HINGE: j = dJointCreateHinge(world->ode.ode_world, 0); break; case JOINTTYPE_SLIDER: j = dJointCreateSlider(world->ode.ode_world, 0); break; case JOINTTYPE_UNIVERSAL: j = dJointCreateUniversal(world->ode.ode_world, 0); break; case JOINTTYPE_HINGE2: j = dJointCreateHinge2(world->ode.ode_world, 0); break; case JOINTTYPE_FIXED: j = dJointCreateFixed(world->ode.ode_world, 0); break; case 0: default: // no joint j = 0; break; } if(ed->ode.ode_joint) { //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts)); dJointAttach(ed->ode.ode_joint, 0, 0); dJointDestroy(ed->ode.ode_joint); } ed->ode.ode_joint = (void *) j; ed->ode.ode_joint_type = jointtype; ed->ode.ode_joint_enemy = enemy; ed->ode.ode_joint_aiment = aiment; VectorCopy(origin, ed->ode.ode_joint_origin); VectorCopy(velocity, ed->ode.ode_joint_velocity); VectorCopy(angles, ed->ode.ode_joint_angles); VectorCopy(movedir, ed->ode.ode_joint_movedir); if(j) { //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts)); dJointSetData(j, (void *) ed); if(enemy) b1 = (dBodyID)(EDICT_NUM(world->progs, enemy)->ode.ode_body); if(aiment) b2 = (dBodyID)world->edicts[aiment].ode.ode_body; dJointAttach(j, b1, b2); switch(jointtype) { case JOINTTYPE_POINT: dJointSetBallAnchor(j, origin[0], origin[1], origin[2]); break; case JOINTTYPE_HINGE: dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]); dJointSetHingeAxis(j, forward[0], forward[1], forward[2]); dJointSetHingeParam(j, dParamFMax, FMax); dJointSetHingeParam(j, dParamHiStop, Stop); dJointSetHingeParam(j, dParamLoStop, -Stop); dJointSetHingeParam(j, dParamStopCFM, CFM); dJointSetHingeParam(j, dParamStopERP, ERP); dJointSetHingeParam(j, dParamVel, Vel); break; case JOINTTYPE_SLIDER: dJointSetSliderAxis(j, forward[0], forward[1], forward[2]); dJointSetSliderParam(j, dParamFMax, FMax); dJointSetSliderParam(j, dParamHiStop, Stop); dJointSetSliderParam(j, dParamLoStop, -Stop); dJointSetSliderParam(j, dParamStopCFM, CFM); dJointSetSliderParam(j, dParamStopERP, ERP); dJointSetSliderParam(j, dParamVel, Vel); break; case JOINTTYPE_UNIVERSAL: dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]); dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]); dJointSetUniversalAxis2(j, up[0], up[1], up[2]); dJointSetUniversalParam(j, dParamFMax, FMax); dJointSetUniversalParam(j, dParamHiStop, Stop); dJointSetUniversalParam(j, dParamLoStop, -Stop); dJointSetUniversalParam(j, dParamStopCFM, CFM); dJointSetUniversalParam(j, dParamStopERP, ERP); dJointSetUniversalParam(j, dParamVel, Vel); dJointSetUniversalParam(j, dParamFMax2, FMax); dJointSetUniversalParam(j, dParamHiStop2, Stop); dJointSetUniversalParam(j, dParamLoStop2, -Stop); dJointSetUniversalParam(j, dParamStopCFM2, CFM); dJointSetUniversalParam(j, dParamStopERP2, ERP); dJointSetUniversalParam(j, dParamVel2, Vel); break; case JOINTTYPE_HINGE2: dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]); dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]); dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]); dJointSetHinge2Param(j, dParamFMax, FMax); dJointSetHinge2Param(j, dParamHiStop, Stop); dJointSetHinge2Param(j, dParamLoStop, -Stop); dJointSetHinge2Param(j, dParamStopCFM, CFM); dJointSetHinge2Param(j, dParamStopERP, ERP); dJointSetHinge2Param(j, dParamVel, Vel); dJointSetHinge2Param(j, dParamFMax2, FMax); dJointSetHinge2Param(j, dParamHiStop2, Stop); dJointSetHinge2Param(j, dParamLoStop2, -Stop); dJointSetHinge2Param(j, dParamStopCFM2, CFM); dJointSetHinge2Param(j, dParamStopERP2, ERP); dJointSetHinge2Param(j, dParamVel2, Vel); break; case JOINTTYPE_FIXED: break; case 0: default: Sys_Error("what? but above the joint was valid...\n"); break; } #undef SETPARAMS } } static qboolean GenerateCollisionMesh(world_t *world, model_t *mod, wedict_t *ed, vec3_t geomcenter) { unsigned int sno; msurface_t *surf; mesh_t *mesh; unsigned int numverts; unsigned int numindexes,i; numverts = 0; numindexes = 0; for (sno = 0; sno < mod->nummodelsurfaces; sno++) { surf = &mod->surfaces[sno+mod->firstmodelsurface]; if (surf->flags & (SURF_DRAWSKY|SURF_DRAWTURB)) continue; if (surf->mesh) { mesh = surf->mesh; numverts += mesh->numvertexes; numindexes += mesh->numindexes; } else { numverts += surf->numedges; numindexes += (surf->numedges-2) * 3; } } if (!numindexes) { Con_Printf("entity %i (classname %s) has no geometry\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname)); return false; } ed->ode.ode_element3i = BZ_Malloc(numindexes*sizeof(index_t)); ed->ode.ode_vertex3f = BZ_Malloc(numverts*sizeof(vec3_t)); numverts = 0; numindexes = 0; for (sno = 0; sno < mod->nummodelsurfaces; sno++) { surf = &mod->surfaces[sno+mod->firstmodelsurface]; if (surf->flags & (SURF_DRAWSKY|SURF_DRAWTURB)) continue; if (surf->mesh) { mesh = surf->mesh; for (i = 0; i < mesh->numvertexes; i++) VectorSubtract(mesh->xyz_array[i], geomcenter, (ed->ode.ode_vertex3f + 3*(numverts+i))); for (i = 0; i < mesh->numindexes; i+=3) { //flip the triangles as we go ed->ode.ode_element3i[numindexes+i+0] = numverts+mesh->indexes[i+2]; ed->ode.ode_element3i[numindexes+i+1] = numverts+mesh->indexes[i+1]; ed->ode.ode_element3i[numindexes+i+2] = numverts+mesh->indexes[i+0]; } numverts += mesh->numvertexes; numindexes += i; } else { float *vec; medge_t *edge; int lindex; for (i = 0; i < surf->numedges; i++) { lindex = mod->surfedges[surf->firstedge + i]; if (lindex > 0) { edge = &mod->edges[lindex]; vec = mod->vertexes[edge->v[0]].position; } else { edge = &mod->edges[-lindex]; vec = mod->vertexes[edge->v[1]].position; } VectorSubtract(vec, geomcenter, (ed->ode.ode_vertex3f + 3*(numverts+i))); } for (i = 2; i < surf->numedges; i++) { //quake is backwards, not ode ed->ode.ode_element3i[numindexes++] = numverts+i; ed->ode.ode_element3i[numindexes++] = numverts+i-1; ed->ode.ode_element3i[numindexes++] = numverts; } numverts += surf->numedges; } } ed->ode.ode_numvertices = numverts; ed->ode.ode_numtriangles = numindexes/3; return true; } static void World_Physics_Frame_BodyFromEntity(world_t *world, wedict_t *ed) { dBodyID body = (dBodyID)ed->ode.ode_body; dMass mass; float test; void *dataID; dVector3 capsulerot[3]; model_t *model; int axisindex; int modelindex = 0; int movetype = MOVETYPE_NONE; int solid = SOLID_NOT; qboolean modified = false; vec3_t angles; vec3_t avelocity; vec3_t entmaxs; vec3_t entmins; vec3_t forward; vec3_t geomcenter; vec3_t geomsize; vec3_t left; vec3_t origin; vec3_t spinvelocity; vec3_t up; vec3_t velocity; vec_t f; vec_t length; vec_t massval = 1.0f; vec_t movelimit; vec_t radius; vec_t scale; vec_t spinlimit; qboolean gravity; #ifdef ODE_DYNAMIC if (!ode_dll) return; #endif solid = (int)ed->v->solid; movetype = (int)ed->v->movetype; scale = ed->xv->scale?ed->xv->scale:1; modelindex = 0; model = NULL; switch(solid) { case SOLID_BSP: modelindex = (int)ed->v->modelindex; model = world->GetCModel(world, modelindex); if (model) { VectorScale(model->mins, scale, entmins); VectorScale(model->maxs, scale, entmaxs); if (ed->xv->mass) massval = ed->xv->mass; } else { modelindex = 0; massval = 1.0f; } break; case SOLID_BBOX: case SOLID_SLIDEBOX: case SOLID_CORPSE: case SOLID_PHYSICS_BOX: case SOLID_PHYSICS_SPHERE: case SOLID_PHYSICS_CAPSULE: VectorCopy(ed->v->mins, entmins); VectorCopy(ed->v->maxs, entmaxs); if (ed->xv->mass) massval = ed->xv->mass; break; default: if (ed->ode.ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } VectorSubtract(entmaxs, entmins, geomsize); if (DotProduct(geomsize,geomsize) == 0) { // we don't allow point-size physics objects... if (ed->ode.ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } if (movetype != MOVETYPE_PHYSICS) massval = 1.0f; // check if we need to create or replace the geom if (!ed->ode.ode_physics || !VectorCompare(ed->ode.ode_mins, entmins) || !VectorCompare(ed->ode.ode_maxs, entmaxs) || ed->ode.ode_mass != massval || ed->ode.ode_modelindex != modelindex) { modified = true; World_Physics_RemoveFromEntity(world, ed); ed->ode.ode_physics = true; VectorCopy(entmins, ed->ode.ode_mins); VectorCopy(entmaxs, ed->ode.ode_maxs); ed->ode.ode_mass = massval; ed->ode.ode_modelindex = modelindex; VectorAvg(entmins, entmaxs, geomcenter); ed->ode.ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2])); if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0) { if (movetype == MOVETYPE_PHYSICS) Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname)); massval = 1.0f; VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } switch(solid) { case SOLID_BSP: Matrix4_Identity(ed->ode.ode_offsetmatrix); if (!model) { Con_Printf("entity %i (classname %s) has no model\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname)); break; } if (!GenerateCollisionMesh(world, model, ed, geomcenter)) break; Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); // now create the geom dataID = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle(dataID, (void*)ed->ode.ode_vertex3f, sizeof(float[3]), ed->ode.ode_numvertices, ed->ode.ode_element3i, ed->ode.ode_numtriangles*3, sizeof(int[3])); ed->ode.ode_geom = (void *)dCreateTriMesh(world->ode.ode_space, dataID, NULL, NULL, NULL); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); break; case SOLID_BBOX: case SOLID_SLIDEBOX: case SOLID_CORPSE: case SOLID_PHYSICS_BOX: Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->ode.ode_geom = (void *)dCreateBox(world->ode.ode_space, geomsize[0], geomsize[1], geomsize[2]); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); break; case SOLID_PHYSICS_SPHERE: Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->ode.ode_geom = (void *)dCreateSphere(world->ode.ode_space, geomsize[0] * 0.5f); dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); break; #pragma message("SOLID_PHYSICS_CAPSULE not supported") /* case SOLID_PHYSICS_CAPSULE: axisindex = 0; if (geomsize[axisindex] < geomsize[1]) axisindex = 1; if (geomsize[axisindex] < geomsize[2]) axisindex = 2; // the qc gives us 3 axis radius, the longest axis is the capsule // axis, since ODE doesn't like this idea we have to create a // capsule which uses the standard orientation, and apply a // transform to it memset(capsulerot, 0, sizeof(capsulerot)); if (axisindex == 0) Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); else if (axisindex == 1) Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); else Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius length = geomsize[axisindex] - radius*2; // because we want to support more than one axisindex, we have to // create a transform, and turn on its cleanup setting (which will // cause the child to be destroyed when it is destroyed) ed->ode.ode_geom = (void *)dCreateCapsule(world->ode.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); break; */ default: Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid); } Matrix4Q_Invert_Simple(ed->ode.ode_offsetmatrix, ed->ode.ode_offsetimatrix); ed->ode.ode_massbuf = BZ_Malloc(sizeof(dMass)); memcpy(ed->ode.ode_massbuf, &mass, sizeof(dMass)); } if(ed->ode.ode_geom) dGeomSetData(ed->ode.ode_geom, (void*)ed); if (movetype == MOVETYPE_PHYSICS && ed->ode.ode_geom) { if (ed->ode.ode_body == NULL) { ed->ode.ode_body = (void *)(body = dBodyCreate(world->ode.ode_world)); dGeomSetBody(ed->ode.ode_geom, body); dBodySetData(body, (void*)ed); dBodySetMass(body, (dMass *) ed->ode.ode_massbuf); modified = true; } } else { if (ed->ode.ode_body != NULL) { if(ed->ode.ode_geom) dGeomSetBody(ed->ode.ode_geom, 0); dBodyDestroy((dBodyID) ed->ode.ode_body); ed->ode.ode_body = NULL; modified = true; } } // get current data from entity VectorClear(origin); VectorClear(velocity); //VectorClear(forward); //VectorClear(left); //VectorClear(up); //VectorClear(spinvelocity); VectorClear(angles); VectorClear(avelocity); gravity = true; VectorCopy(ed->v->origin, origin); VectorCopy(ed->v->velocity, velocity); //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward); //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left); //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up); //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity); VectorCopy(ed->v->angles, angles); VectorCopy(ed->v->avelocity, avelocity); if (ed == world->edicts || (ed->xv->gravity && ed->xv->gravity <= 0.01)) gravity = false; // compatibility for legacy entities //if (!VectorLength2(forward) || solid == SOLID_BSP) { vec3_t qangles, qavelocity; VectorCopy(angles, qangles); VectorCopy(avelocity, qavelocity); if (ed->v->modelindex) { model = world->GetCModel(world, ed->v->modelindex); if (!model || model->type == mod_alias) { qangles[PITCH] *= -1; qavelocity[PITCH] *= -1; } } AngleVectorsFLU(qangles, forward, left, up); // convert single-axis rotations in avelocity to spinvelocity // FIXME: untested math - check signs VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW])); } // compatibility for legacy entities switch (solid) { case SOLID_BBOX: case SOLID_SLIDEBOX: case SOLID_CORPSE: VectorSet(forward, 1, 0, 0); VectorSet(left, 0, 1, 0); VectorSet(up, 0, 0, 1); VectorSet(spinvelocity, 0, 0, 0); break; } // we must prevent NANs... test = DotProduct(origin,origin) + DotProduct(forward,forward) + DotProduct(left,left) + DotProduct(up,up) + DotProduct(velocity,velocity) + DotProduct(spinvelocity,spinvelocity); if (IS_NAN(test)) { modified = true; //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]); Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]); test = DotProduct(origin,origin); if (IS_NAN(test)) VectorClear(origin); test = DotProduct(forward,forward) * DotProduct(left,left) * DotProduct(up,up); if (IS_NAN(test)) { VectorSet(angles, 0, 0, 0); VectorSet(forward, 1, 0, 0); VectorSet(left, 0, 1, 0); VectorSet(up, 0, 0, 1); } test = DotProduct(velocity,velocity); if (IS_NAN(test)) VectorClear(velocity); test = DotProduct(spinvelocity,spinvelocity); if (IS_NAN(test)) { VectorClear(avelocity); VectorClear(spinvelocity); } } // check if the qc edited any position data if (!VectorCompare(origin, ed->ode.ode_origin) || !VectorCompare(velocity, ed->ode.ode_velocity) || !VectorCompare(angles, ed->ode.ode_angles) || !VectorCompare(avelocity, ed->ode.ode_avelocity) || gravity != ed->ode.ode_gravity) modified = true; // store the qc values into the physics engine body = ed->ode.ode_body; if (modified && ed->ode.ode_geom) { dVector3 r[3]; float entitymatrix[16]; float bodymatrix[16]; #if 0 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts)); if(!VectorCompare(origin, ed->ode.ode_origin)) Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->ode.ode_origin[0], ed->ode.ode_origin[1], ed->ode.ode_origin[2], origin[0], origin[1], origin[2]); if(!VectorCompare(velocity, ed->ode.ode_velocity)) Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->ode.ode_velocity[0], ed->ode.ode_velocity[1], ed->ode.ode_velocity[2], velocity[0], velocity[1], velocity[2]); if(!VectorCompare(angles, ed->ode.ode_angles)) Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->ode.ode_angles[0], ed->ode.ode_angles[1], ed->ode.ode_angles[2], angles[0], angles[1], angles[2]); if(!VectorCompare(avelocity, ed->ode.ode_avelocity)) Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->ode.ode_avelocity[0], ed->ode.ode_avelocity[1], ed->ode.ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]); if(gravity != ed->ode.ode_gravity) Con_Printf(" gravity: %i -> %i\n", ed->ide.ode_gravity, gravity); #endif // values for BodyFromEntity to check if the qc modified anything later VectorCopy(origin, ed->ode.ode_origin); VectorCopy(velocity, ed->ode.ode_velocity); VectorCopy(angles, ed->ode.ode_angles); VectorCopy(avelocity, ed->ode.ode_avelocity); ed->ode.ode_gravity = gravity; Matrix4Q_FromVectors(entitymatrix, forward, left, up, origin); Matrix4_Multiply(ed->ode.ode_offsetmatrix, entitymatrix, bodymatrix); Matrix4Q_ToVectors(bodymatrix, forward, left, up, origin); r[0][0] = forward[0]; r[1][0] = forward[1]; r[2][0] = forward[2]; r[0][1] = left[0]; r[1][1] = left[1]; r[2][1] = left[2]; r[0][2] = up[0]; r[1][2] = up[1]; r[2][2] = up[2]; if(body) { if(movetype == MOVETYPE_PHYSICS) { dGeomSetBody(ed->ode.ode_geom, body); dBodySetPosition(body, origin[0], origin[1], origin[2]); dBodySetRotation(body, r[0]); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); dBodySetGravityMode(body, gravity); } else { dGeomSetBody(ed->ode.ode_geom, body); dBodySetPosition(body, origin[0], origin[1], origin[2]); dBodySetRotation(body, r[0]); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); dBodySetGravityMode(body, gravity); dGeomSetBody(ed->ode.ode_geom, 0); } } else { // no body... then let's adjust the parameters of the geom directly dGeomSetBody(ed->ode.ode_geom, 0); // just in case we previously HAD a body (which should never happen) dGeomSetPosition(ed->ode.ode_geom, origin[0], origin[1], origin[2]); dGeomSetRotation(ed->ode.ode_geom, r[0]); } } if(body) { // limit movement speed to prevent missed collisions at high speed const dReal *ovelocity = dBodyGetLinearVel(body); const dReal *ospinvelocity = dBodyGetAngularVel(body); movelimit = ed->ode.ode_movelimit * world->ode.ode_movelimit; test = DotProduct(ovelocity,ovelocity); if (test > movelimit*movelimit) { // scale down linear velocity to the movelimit // scale down angular velocity the same amount for consistency f = movelimit / sqrt(test); VectorScale(ovelocity, f, velocity); VectorScale(ospinvelocity, f, spinvelocity); dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]); dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]); } // make sure the angular velocity is not exploding spinlimit = physics_ode_spinlimit.value; test = DotProduct(ospinvelocity,ospinvelocity); if (test > spinlimit) { dBodySetAngularVel(body, 0, 0, 0); } } } #define MAX_CONTACTS 16 static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2) { world_t *world = (world_t *)data; dContact contact[MAX_CONTACTS]; // max contacts per collision pair dBodyID b1; dBodyID b2; dJointID c; int i; int numcontacts; float bouncefactor1 = 0.0f; float bouncestop1 = 60.0f / 800.0f; float bouncefactor2 = 0.0f; float bouncestop2 = 60.0f / 800.0f; dVector3 grav; wedict_t *ed1, *ed2; if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { // colliding a space with something dSpaceCollide2(o1, o2, data, &nearCallback); // Note we do not want to test intersections within a space, // only between spaces. //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback); //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback); return; } b1 = dGeomGetBody(o1); b2 = dGeomGetBody(o2); // at least one object has to be using MOVETYPE_PHYSICS or we just don't care if (!b1 && !b2) return; // exit without doing anything if the two bodies are connected by a joint if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) return; ed1 = (wedict_t *) dGeomGetData(o1); if(ed1 && ed1->isfree) ed1 = NULL; ed2 = (wedict_t *) dGeomGetData(o2); if(ed2 && ed2->isfree) ed2 = NULL; // generate contact points between the two non-space geoms numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0])); if (numcontacts) { if(ed1 && ed1->v->touch) { world->Event_Touch(world, ed1, ed2); } if(ed2 && ed2->v->touch) { world->Event_Touch(world, ed2, ed1); } /* if either ent killed itself, don't collide */ if ((ed1&&ed1->isfree) || (ed2&&ed2->isfree)) return; } if(ed1) { if (ed1->xv->bouncefactor) bouncefactor1 = ed1->xv->bouncefactor; if (ed1->xv->bouncestop) bouncestop1 = ed1->xv->bouncestop; } if(ed2) { if (ed2->xv->bouncefactor) bouncefactor2 = ed2->xv->bouncefactor; if (ed2->xv->bouncestop) bouncestop2 = ed2->xv->bouncestop; } if ((ed2->entnum&&ed1->v->owner == ed2->entnum) || (ed1->entnum&&ed2->v->owner == ed1->entnum)) return; // merge bounce factors and bounce stop if(bouncefactor2 > 0) { if(bouncefactor1 > 0) { // TODO possibly better logic to merge bounce factor data? if(bouncestop2 < bouncestop1) bouncestop1 = bouncestop2; if(bouncefactor2 > bouncefactor1) bouncefactor1 = bouncefactor2; } else { bouncestop1 = bouncestop2; bouncefactor1 = bouncefactor2; } } dWorldGetGravity(world->ode.ode_world, grav); bouncestop1 *= fabs(grav[2]); // add these contact points to the simulation for (i = 0;i < numcontacts;i++) { 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); contact[i].surface.mu = physics_ode_contact_mu.value; contact[i].surface.soft_erp = physics_ode_contact_erp.value; contact[i].surface.soft_cfm = physics_ode_contact_cfm.value; contact[i].surface.bounce = bouncefactor1; contact[i].surface.bounce_vel = bouncestop1; c = dJointCreateContact(world->ode.ode_world, world->ode.ode_contactgroup, contact + i); dJointAttach(c, b1, b2); } } void World_Physics_Frame(world_t *world, double frametime, double gravity) { if (world->ode.ode) { int i; wedict_t *ed; world->ode.ode_iterations = bound(1, physics_ode_iterationsperframe.ival, 1000); world->ode.ode_step = frametime / world->ode.ode_iterations; world->ode.ode_movelimit = physics_ode_movelimit.value / world->ode.ode_step; // copy physics properties from entities to physics engine for (i = 0;i < world->num_edicts;i++) { ed = (wedict_t*)EDICT_NUM(world->progs, i); if (!ed->isfree) World_Physics_Frame_BodyFromEntity(world, ed); } // oh, and it must be called after all bodies were created for (i = 0;i < world->num_edicts;i++) { ed = (wedict_t*)EDICT_NUM(world->progs, i); if (!ed->isfree) World_Physics_Frame_JointFromEntity(world, ed); } for (i = 0;i < world->ode.ode_iterations;i++) { // set the gravity dWorldSetGravity(world->ode.ode_world, 0, 0, -gravity); // set the tolerance for closeness of objects dWorldSetContactSurfaceLayer(world->ode.ode_world, max(0, physics_ode_contactsurfacelayer.value)); // run collisions for the current world state, creating JointGroup dSpaceCollide(world->ode.ode_space, (void *)world, nearCallback); // run physics (move objects, calculate new velocities) if (physics_ode_worldquickstep.ival) { dWorldSetQuickStepNumIterations(world->ode.ode_world, bound(1, physics_ode_worldquickstep_iterations.ival, 200)); dWorldQuickStep(world->ode.ode_world, world->ode.ode_step); } else dWorldStep(world->ode.ode_world, world->ode.ode_step); // clear the JointGroup now that we're done with it dJointGroupEmpty(world->ode.ode_contactgroup); } // copy physics properties from physics engine to entities for (i = 1;i < world->num_edicts;i++) { ed = (wedict_t*)EDICT_NUM(world->progs, i); if (!ed->isfree) World_Physics_Frame_BodyToEntity(world, ed); } } } #endif