diff --git a/engine/common/bothdefs.h b/engine/common/bothdefs.h index 501d636e1..3e7a6d448 100644 --- a/engine/common/bothdefs.h +++ b/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 diff --git a/engine/common/com_phys_ode.c b/engine/common/com_phys_ode.c new file mode 100644 index 000000000..3895acee8 --- /dev/null +++ b/engine/common/com_phys_ode.c @@ -0,0 +1,2233 @@ +/* +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: fix this up before adding to csqc") +//#define pr_global_struct dgsdfg sdfg sdfg sd gsgd +#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 dWorldStepFast1 or dWorldStep"); +cvar_t physics_ode_worldquickstep_iterations = CVARDP4(0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"); +cvar_t physics_ode_worldstepfast = CVARDP4(0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"); +cvar_t physics_ode_worldstepfast_iterations = CVARDP4(0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"); +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 +#else +#define ODE_API +#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 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}, +// {"dCheckConfiguration", (void **) &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_worldstepfast, "ODE Physics Library"); + Cvar_Register(&physics_ode_worldstepfast_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_DNYAMIC +# 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_UnloadLibrary(&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) +{ + // 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) +{ + 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); + Matrix4_FromVectors(bodymatrix, forward, left, up, origin); + Matrix4_Multiply(entitymatrix, bodymatrix, ed->ode.ode_offsetimatrix); + Matrix4_ToVectors(entitymatrix, forward, left, up, origin); + + VectorAngles(forward, up, angles); + avelocity[PITCH] = RAD2DEG(spinvelocity[PITCH]); + avelocity[YAW] = RAD2DEG(spinvelocity[ROLL]); + avelocity[ROLL] = RAD2DEG(spinvelocity[YAW]); + + 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]; + mesh = surf->mesh; + if (!mesh) + continue; + numverts += mesh->numvertexes; + numindexes += mesh->numindexes; + } + 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)); + for (sno = 0; sno < mod->nummodelsurfaces; sno++) + { + surf = &mod->surfaces[sno+mod->firstmodelsurface]; + mesh = surf->mesh; + if (!mesh) + continue; + for (i = 0; i < mesh->numvertexes; i++) + VectorSubtract(mesh->xyz_array[i], geomcenter, (ed->ode.ode_vertex3f + numverts+i)); + for (i = 0; i < mesh->numindexes; i+=3) + { + //flip the triangles as we go + ed->ode.ode_element3i[numindexes+i+0] = mesh->indexes[i+2]; + ed->ode.ode_element3i[numindexes+i+1] = mesh->indexes[i+1]; + ed->ode.ode_element3i[numindexes+i+2] = mesh->indexes[i+0]; + } + numverts += mesh->numvertexes; + numindexes += mesh->numindexes; + } + return true; +} + +static void World_Physics_Frame_BodyFromEntity(world_t *world, wedict_t *ed) +{ + dBodyID body = (dBodyID)ed->ode.ode_body; + dMass mass; + dReal 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 = 1.0f; + 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; + modelindex = 0; + + switch(solid) + { + case SOLID_BSP: + modelindex = (int)ed->v->modelindex; + if (modelindex >= 1 && modelindex < MAX_MODELS) + { + model = world->models[modelindex]; + } +#pragma message("no csqc models") + /* else if (world == &cl.world && modelindex <= -1 && modelindex > MAX_MODELS) + { + model = cl.model_precache[modelindex]; + }*/ + else + { + model = NULL; + modelindex = 0; + } + if (model) + { + VectorScale(model->mins, scale, entmins); + VectorScale(model->maxs, scale, entmaxs); + 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: + model = NULL; + VectorCopy(ed->v->mins, entmins); + VectorCopy(ed->v->maxs, entmaxs); + massval = ed->xv->mass; + break; + default: + model = NULL; + 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; + + Matrix4_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: + Matrix4_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: + Matrix4_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); + } + Matrix4_Invert_Simple(ed->ode.ode_offsetmatrix, ed->ode.ode_offsetimatrix); + ed->ode.ode_massbuf = BZ_Malloc(sizeof(mass)); + 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)) + gravity = false; + + // compatibility for legacy entities + //if (!VectorLength2(forward) || solid == SOLID_BSP) + { + float pitchsign = 1; + vec3_t qangles, qavelocity; + VectorCopy(angles, qangles); + VectorCopy(avelocity, qavelocity); + + 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; + + Matrix4_FromVectors(entitymatrix, forward, left, up, origin); + Matrix4_Multiply(bodymatrix, entitymatrix, ed->ode.ode_offsetmatrix); + Matrix4_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 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; + if(ed1) + { + if (ed1->xv->bouncefactor) + bouncefactor1 = ed1->xv->bouncefactor; + + if (ed1->xv->bouncestop) + bouncestop1 = ed1->xv->bouncestop; + } + + ed2 = (wedict_t *) dGeomGetData(o2); + if(ed2 && ed2->isfree) + ed2 = NULL; + if(ed2) + { + if (ed2->xv->bouncefactor) + bouncefactor2 = ed2->xv->bouncefactor; + + if (ed2->xv->bouncestop) + bouncestop2 = ed2->xv->bouncestop; + } + + if(ed1 && ed1->v->touch) + { + pr_global_struct->self = EDICT_TO_PROG(world->progs, ed1); + pr_global_struct->other = EDICT_TO_PROG(world->progs, (edict_t*)(ed2 ? ed2 : world->edicts)); + pr_global_struct->time = world->physicstime; +#ifdef VM_Q1 + if (world==&sv.world && svs.gametype == GT_Q1QVM) + Q1QVM_Touch(); + else +#endif + PR_ExecuteProgram (world->progs, ed1->v->touch); + } + if(ed2 && ed2->v->touch) + { + pr_global_struct->self = EDICT_TO_PROG(world->progs, ed2); + pr_global_struct->other = EDICT_TO_PROG(world->progs, (edict_t*)(ed1 ? ed1 : world->edicts)); + pr_global_struct->time = world->physicstime; +#ifdef VM_Q1 + if (world==&sv.world && svs.gametype == GT_Q1QVM) + Q1QVM_Touch(); + else +#endif + PR_ExecuteProgram (world->progs, ed2->v->touch); + } + + // 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]); + + // generate contact points between the two non-space geoms + numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0])); + // 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, ed = world->edicts + i;i < world->num_edicts;i++, ed++) + if (!ed->isfree) + World_Physics_Frame_BodyFromEntity(world, ed); + // oh, and it must be called after all bodies were created + for (i = 0, ed = world->edicts + i;i < world->num_edicts;i++, ed++) + 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 if (physics_ode_worldstepfast.ival) + dWorldStepFast1(world->ode.ode_world, world->ode.ode_step, bound(1, physics_ode_worldstepfast_iterations.ival, 200)); + 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, ed = world->edicts + i;i < world->num_edicts;i++, ed++) + if (!ed->isfree) + World_Physics_Frame_BodyToEntity(world, ed); + } +} + +#endif diff --git a/engine/common/mathlib.c b/engine/common/mathlib.c index 47eb6193f..b11377070 100644 --- a/engine/common/mathlib.c +++ b/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[1] = in->m[0][1]; - vx[2] = in->m[0][2]; - vy[0] = in->m[1][0]; - vy[1] = in->m[1][1]; - vy[2] = in->m[1][2]; - vz[0] = in->m[2][0]; - vz[1] = in->m[2][1]; - vz[2] = in->m[2][2]; - t [0] = in->m[3][0]; - t [1] = in->m[3][1]; - t [2] = in->m[3][2]; + vx[0] = in[0]; + vx[1] = in[4]; + vx[2] = in[8]; + + vy[0] = in[1]; + vy[1] = in[5]; + vy[2] = in[9]; + + vz[0] = in[2]; + vz[1] = in[6]; + vz[2] = in[10]; + + 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->m[1][0] = vy[0]; - out->m[2][0] = vz[0]; - out->m[3][0] = t[0]; - out->m[0][1] = vx[1]; - out->m[1][1] = vy[1]; - out->m[2][1] = vz[1]; - out->m[3][1] = t[1]; - out->m[0][2] = vx[2]; - out->m[1][2] = vy[2]; - out->m[2][2] = vz[2]; - out->m[3][2] = t[2]; - out->m[0][3] = 0.0f; - out->m[1][3] = 0.0f; - out->m[2][3] = 0.0f; - out->m[3][3] = 1.0f; + out[0] = vx[0]; + out[4] = vy[0]; + out[8] = vz[0]; + out[12] = t[0]; + out[1] = vx[1]; + out[5] = vy[1]; + out[9] = vz[1]; + out[13] = t[1]; + out[2] = vx[2]; + out[6] = vy[2]; + out[10] = vz[2]; + out[14] = t[2]; + out[3] = 0.0f; + out[7] = 0.0f; + out[11] = 0.0f; + 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]; diff --git a/engine/common/mathlib.h b/engine/common/mathlib.h index 60530403b..107a4cad6 100644 --- a/engine/common/mathlib.h +++ b/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_ModelViewMatrix (float *modelview, vec3_t viewangles, vec3_t vieworg); -void Matrix4_ModelViewMatrixFromAxis (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, const vec3_t viewangles, const 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); diff --git a/engine/common/world.h b/engine/common/world.h index 1c24b3d73..68b5ea87c 100644 --- a/engine/common/world.h +++ b/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 diff --git a/engine/dotnet2005/ftequake.vcproj b/engine/dotnet2005/ftequake.vcproj index 708540599..368d5a061 100644 --- a/engine/dotnet2005/ftequake.vcproj +++ b/engine/dotnet2005/ftequake.vcproj @@ -18532,6 +18532,10 @@ /> + + diff --git a/engine/server/pr_cmds.c b/engine/server/pr_cmds.c index f817ecb5d..cf11c0cae 100644 --- a/engine/server/pr_cmds.c +++ b/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) diff --git a/engine/server/sv_main.c b/engine/server/sv_main.c index 7c5ab6de4..471e01574 100644 --- a/engine/server/sv_main.c +++ b/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 diff --git a/engine/server/sv_phys.c b/engine/server/sv_phys.c index b74f4b175..3b533548f 100644 --- a/engine/server/sv_phys.c +++ b/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; /* diff --git a/engine/server/world.c b/engine/server/world.c index c688326e3..7d074f245 100644 --- a/engine/server/world.c +++ b/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 /*