Ripped LordHavoc's ODE physics support. It'll probably crash and burn. 99.995% untested.

git-svn-id: https://svn.code.sf.net/p/fteqw/code/branches/wip@3406 fc73d0e0-1445-4013-8a0c-d673dee63da5

engine/common/bothdefs.h

@@ -75,7 +75,7 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 #define AVAIL_FREETYPE
 #endif
 
-//#define ODE_DYNAMIC
+#define ODE_DYNAMIC
 
 #ifdef NO_PNG
 	#undef AVAIL_PNGLIB

engine/common/mathlib.c

@@ -916,7 +916,7 @@ void Matrix4_Transform3(float *matrix, float *vector, float *product)
 	product[2] = matrix[2]*vector[0] + matrix[6]*vector[1] + matrix[10]*vector[2] + matrix[14];
 }
 
-void Matrix4_ModelViewMatrix(float *modelview, vec3_t viewangles, vec3_t vieworg)
+void Matrix4_ModelViewMatrix(float *modelview, const vec3_t viewangles, const vec3_t vieworg)
 {
 	float tempmat[16];
 	//load identity.
@@ -946,12 +946,12 @@ void Matrix4_ModelViewMatrix(float *modelview, vec3_t viewangles, vec3_t vieworg
 	Matrix4_Multiply(tempmat, Matrix4_NewTranslation(-vieworg[0],  -vieworg[1],  -vieworg[2]), modelview);	    // put Z going up
 }
 
-void		Matrix4x4_CreateTranslate (float *out, float x, float y, float z)
+void		Matrix4_CreateTranslate (float *out, float x, float y, float z)
 {
 	memcpy(out, Matrix4_NewTranslation(x, y, z), 16*sizeof(float));
 }
 
-void Matrix4_ModelViewMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg)
+void Matrix4_ModelViewMatrixFromAxis(float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg)
 {
 	float tempmat[16];
 
@@ -976,43 +976,46 @@ void Matrix4_ModelViewMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right,
 }
 
 
-void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
+void Matrix4_ToVectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3])
 {
-	vx[0] = in->m[0][0];
+	vx[0] = in[0];
-	vx[1] = in->m[0][1];
+	vx[1] = in[4];
-	vx[2] = in->m[0][2];
+	vx[2] = in[8];
-	vy[0] = in->m[1][0];
+
-	vy[1] = in->m[1][1];
+	vy[0] = in[1];
-	vy[2] = in->m[1][2];
+	vy[1] = in[5];
-	vz[0] = in->m[2][0];
+	vy[2] = in[9];
-	vz[1] = in->m[2][1];
+
-	vz[2] = in->m[2][2];
+	vz[0] = in[2];
-	t [0] = in->m[3][0];
+	vz[1] = in[6];
-	t [1] = in->m[3][1];
+	vz[2] = in[10];
-	t [2] = in->m[3][2];
+
+	t [0] = in[3];
+	t [1] = in[7];
+	t [2] = in[11];
 }
 
-void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
+void Matrix4_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
 {
-	out->m[0][0] = vx[0];
+	out[0] = vx[0];
-	out->m[1][0] = vy[0];
+	out[4] = vy[0];
-	out->m[2][0] = vz[0];
+	out[8] = vz[0];
-	out->m[3][0] = t[0];
+	out[12] = t[0];
-	out->m[0][1] = vx[1];
+	out[1] = vx[1];
-	out->m[1][1] = vy[1];
+	out[5] = vy[1];
-	out->m[2][1] = vz[1];
+	out[9] = vz[1];
-	out->m[3][1] = t[1];
+	out[13] = t[1];
-	out->m[0][2] = vx[2];
+	out[2] = vx[2];
-	out->m[1][2] = vy[2];
+	out[6] = vy[2];
-	out->m[2][2] = vz[2];
+	out[10] = vz[2];
-	out->m[3][2] = t[2];
+	out[14] = t[2];
-	out->m[0][3] = 0.0f;
+	out[3] = 0.0f;
-	out->m[1][3] = 0.0f;
+	out[7] = 0.0f;
-	out->m[2][3] = 0.0f;
+	out[11] = 0.0f;
-	out->m[3][3] = 1.0f;
+	out[15] = 1.0f;
 }
 
-void Matrix4_ModelMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg)
+void Matrix4_ModelMatrixFromAxis(float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg)
 {
 	float tempmat[16];
 
@@ -1394,6 +1397,59 @@ qboolean Matrix4_Invert(const float *m, float *out)
 #undef SWAP_ROWS
 }
 
+void Matrix4_Invert_Simple (const float *in1, float *out)
+{
+	// we only support uniform scaling, so assume the first row is enough
+	// (note the lack of sqrt here, because we're trying to undo the scaling,
+	// this means multiplying by the inverse scale twice - squaring it, which
+	// makes the sqrt a waste of time)
+#if 1
+	double scale = 1.0 / (in1[0] * in1[0] + in1[1] * in1[1] + in1[2] * in1[2]);
+#else
+	double scale = 3.0 / sqrt
+		 (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
+		+ in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
+		+ in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
+	scale *= scale;
+#endif
+
+	// invert the rotation by transposing and multiplying by the squared
+	// recipricol of the input matrix scale as described above
+	out[0] = in1[0] * scale;
+	out[1] = in1[4] * scale;
+	out[2] = in1[8] * scale;
+	out[4] = in1[1] * scale;
+	out[5] = in1[5] * scale;
+	out[6] = in1[9] * scale;
+	out[8] = in1[2] * scale;
+	out[9] = in1[6] * scale;
+	out[10] = in1[10] * scale;
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	// invert the translate
+	out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
+	out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
+	out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);
+
+	// don't know if there's anything worth doing here
+	out->m[0][3] = 0;
+	out->m[1][3] = 0;
+	out->m[2][3] = 0;
+	out->m[3][3] = 1;
+#else
+	// invert the translate
+	out[3] = -(in1[3] * out[0] + in1[7] * out[1] + in1[11] * out[2]);
+	out[7] = -(in1[3] * out[4] + in1[7] * out[5] + in1[11] * out[6]);
+	out[11] = -(in1[3] * out[8] + in1[7] * out[9] + in1[11] * out[10]);
+
+	// don't know if there's anything worth doing here
+	out[12] = 0;
+	out[13] = 0;
+	out[14] = 0;
+	out[15] = 1;
+#endif
+}
+
 void Matrix3x4_InvertTo3x3(float *in, float *result)
 {
 	float t1[16], tr[16];
@@ -1428,7 +1484,7 @@ void Matrix3x4_InvertTo3x3(float *in, float *result)
 
 //screen->3d
 
-void Matrix4_UnProject(vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy)
+void Matrix4_UnProject(const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy)
 {
 	float modelview[16];
 	float proj[16];
@@ -1458,7 +1514,7 @@ void Matrix4_UnProject(vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg,
 //returns fractions of screen.
 //uses GL style rotations and translations and stuff.
 //3d -> screen (fixme: offscreen return values needed)
-void Matrix4_Project (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy)
+void Matrix4_Project (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy)
 {
 	float modelview[16];
 	float proj[16];

engine/common/mathlib.h

@@ -131,16 +131,21 @@ float		Q_rsqrt(float number);
 void		Matrix3_Multiply (vec3_t *in1, vec3_t *in2, vec3_t *out);
 void		Matrix4_Identity(float *outm);
 qboolean	Matrix4_Invert(const float *m, float *out);
+void		Matrix4_Invert_Simple (const float *in1, float *out);
 void		Matrix4_CreateTranslate (float *out, float x, float y, float z);
-void		Matrix4_ModelMatrixFromAxis (float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg);
+void		Matrix4_ModelMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg);
-void		Matrix4_ModelViewMatrix (float *modelview, vec3_t viewangles, vec3_t vieworg);
+void		Matrix4_ModelViewMatrix (float *modelview, const vec3_t viewangles, const vec3_t vieworg);
-void		Matrix4_ModelViewMatrixFromAxis (float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg);
+void		Matrix4_ModelViewMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg);
 void		Matrix4_CreateFromQuakeEntity (float *matrix, float x, float y, float z, float pitch, float yaw, float roll, float scale);
 void		Matrix4_Multiply (float *a, float *b, float *out);
-void		Matrix4_Project (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy);
+void		Matrix4_Project (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy);
 void		Matrix4_Transform3 (float *matrix, float *vector, float *product);
 void		Matrix4_Transform4 (float *matrix, float *vector, float *product);
-void		Matrix4_UnProject (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy);
+void		Matrix4_UnProject (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy);
+void		Matrix4_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
+void		Matrix4_ToVectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3]);
+
+#define AngleVectorsFLU(a,f,l,u) do{AngleVectors(a,f,l,u);VectorNegate(l,l);}while(0)
 
 //projection matricies of different types... gesh
 void		Matrix4_Orthographic (float *proj, float xmin, float xmax, float ymax, float ymin, float znear, float zfar);

engine/common/world.h

@@ -141,6 +141,16 @@ typedef struct world_s world_t;
 
 #ifndef CLIENTONLY
 
+#ifdef USEODE
+void World_Physics_RemoveFromEntity(world_t *world, wedict_t *ed);
+void World_Physics_RemoveJointFromEntity(world_t *world, wedict_t *ed);
+void World_Physics_Frame(world_t *world, double frametime, double gravity);
+void World_Physics_Init(void);
+void World_Physics_Start(world_t *world);
+void World_Physics_End(world_t *world);
+void World_Physics_Shutdown(void);
+#endif
+
 void World_ClearWorld (world_t *w);
 // called after the world model has been loaded, before linking any entities
 

engine/dotnet2005/ftequake.vcproj

@@ -18532,6 +18532,10 @@
 						/>
 					</FileConfiguration>
 				</File>
+				<File
+					RelativePath="..\common\com_phys_ode.c"
+					>
+				</File>
 				<File
 					RelativePath="..\common\common.c"
 					>

engine/server/pr_cmds.c

@@ -443,6 +443,10 @@ void Q_SetProgsParms(qboolean forcompiler)
 
 void PR_Deinit(void)
 {
+#ifdef USEODE
+	World_Physics_End(&sv.world);
+#endif
+
 #ifdef SQL
 	SQL_DeInit();
 #endif
@@ -1382,6 +1386,11 @@ void Q_InitProgs(void)
 	if (sv.world.max_edicts > MAX_EDICTS)
 		sv.world.max_edicts = MAX_EDICTS;
 	sv.world.edict_size = PR_InitEnts(svprogfuncs, sv.world.max_edicts);
+
+
+#ifdef USEODE
+	World_Physics_Start(&sv.world);
+#endif
 }
 
 qboolean PR_QCChat(char *text, int say_type)

engine/server/sv_main.c

@@ -249,8 +249,10 @@ void SV_Shutdown (void)
 		sv_fraglogfile = NULL;
 	}
 
-	
 	PR_Deinit();
+#ifdef USEODE
+	World_Physics_Shutdown();
+#endif
 
 	if (sv.mvdrecording)
 		SV_MVDStop_f();
@@ -4354,6 +4356,10 @@ void SV_Init (quakeparms_t *parms)
 
 	SV_Demo_Init();
 
+#ifdef USEODE
+	World_Physics_Init();
+#endif
+
 #ifdef SVRANKING
 	Rank_RegisterCommands();
 #endif

engine/server/sv_phys.c

@@ -21,6 +21,8 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 
 #include "qwsvdef.h"
 #ifndef CLIENTONLY
+
+#pragma message("fixme, fix this up before adding to csqc")
 extern nqglobalvars_t realpr_nqglobal_struct;
 
 /*

engine/server/world.c

@@ -22,6 +22,8 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 #include "quakedef.h"
 #include "pr_common.h"
 
+//#define pr_global_struct dgsdfg sdfg sdfg sd gsgd
+
 #ifndef CLIENTONLY
 /*