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fteqw/engine/common/com_phys_ode.c
Spoike cd97d1fff3 cmake now builds botlib (as a shared object) 
fix q3 looping sounds
fix q3sv bug that was kicking clients on map changes
attempt to resize q3ui if the window changes size
added some more disconnect reasons (for menuqc/q3ui to report).
reworked particle count/step arguments for better compat with DP. particles that used count for trails were already broken...
drawtextfield builtin will report line numbers shown, so qc can finally tell how much text there actually was
added some more items to 'fps_preset dp', stuff needed for the 'quake15' mod.
added dpcompat_noretouchground cvar for people wanting to mimic dp's bugs.
added 'r_netgraph 2' setting, which will show packet sizes per svc, in part to highlight wasteful mods.
added cvar to disable the q1mdl floodfill, which caused problems for yet another person.
internal editor now attempts to support debugging asm, if no source is available.
fix 64bit icon bug in x11.
FINALLY fix high's te_teleport effect.
load with no arguments will scan for the most recent a#/s#/quick savedgame instead of using just quick.
load command will chose between fte and vanilla savedgame formats based on modification time, if both exist in the same package/dir.



git-svn-id: https://svn.code.sf.net/p/fteqw/code/trunk@5394 fc73d0e0-1445-4013-8a0c-d673dee63da5
2019-01-29 07:18:07 +00:00

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/*
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.
*/
//if we're not building as an fte-specific plugin, we must be being built as part of the fte engine itself.
//(no, we don't want to act as a plugin for ezquake...)
#ifndef FTEPLUGIN
#define FTEENGINE
#define FTEPLUGIN
#define pCvar_Register Cvar_Get
#define pCvar_GetFloat(x) Cvar_FindVar(x)->value
#define Sys_Errorf Sys_Error
#define pSys_Error(p) Sys_Errorf("%s",p)
#define Plug_Init Plug_ODE_Init
#endif
#include "../../plugins/plugin.h"
#include "../../plugins/engine.h"
#ifdef NOLEGACY
#undef USERBE
#endif
#define DEG2RAD(d) (d * M_PI * (1/180.0f))
#define RAD2DEG(d) ((d*180) / M_PI)
#ifdef USERBE
#include "pr_common.h"
#ifndef FTEENGINE
#define BZ_Malloc malloc
#define BZ_Free free
#define Z_Free BZ_Free
vec3_t vec3_origin;
#define VectorCompare VectorComparestatic
static int VectorCompare (const vec3_t v1, const vec3_t v2)
{
int i;
for (i=0 ; i<3 ; i++)
if (v1[i] != v2[i])
return 0;
return 1;
}
#endif
#define ARGNAMES ,name,funcs
static BUILTINR(dllhandle_t *, Sys_LoadLibrary, (const char *name,dllfunction_t *funcs));
#undef ARGNAMES
#define ARGNAMES ,hdl
static BUILTIN(void, Sys_CloseLibrary, (dllhandle_t *hdl));
#undef ARGNAMES
#define ARGNAMES ,version
static BUILTINR(rbeplugfuncs_t*, RBE_GetPluginFuncs, (int version));
#undef ARGNAMES
static rbeplugfuncs_t *rbefuncs;
cvar_t r_meshpitch;
//============================================================================
// physics engine support
//============================================================================
//#ifndef ODE_STATIC
//#define ODE_DYNAMIC 1
//#endif
//ODE's headers provide version info only as a string, so we don' know when things are deprecated or not.
//this then fucks us over when we try using -Werror
//so until ODE changes its ways, we'll just have to make assumptions and ignore those warnings.
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#define ODEVERSION MAKE2VER(0,15)
#define MAKE2VER(maj,min) (((maj)<<8)|(min))
// LordHavoc: this large chunk of definitions comes from the ODE library
// include files.
#ifdef ODE_STATIC
#undef ODE_DYNAMIC
#define dDOUBLE
#include "ode/ode.h"
#else
#ifdef WINAPI
// ODE does not use WINAPI
#define ODE_API VARGS /*vargs because fte likes to be compiled fastcall (vargs is defined as cdecl...)*/
#else
#define ODE_API VARGS
#endif
#define DEG2RAD(d) (d * M_PI * (1/180.0f))
#define RAD2DEG(d) ((d*180) / M_PI)
// note: dynamic builds of ODE tend to be double precision, this is not used
// for static builds
typedef double dReal;
typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];
struct dxWorld; /* dynamics world */
struct dxSpace; /* collision space */
struct dxBody; /* rigid body (dynamics object) */
struct dxGeom; /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;
struct dxTriMeshData;
#define dInfinity 3.402823466e+38f
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
typedef struct dxTriMeshData *dTriMeshDataID;
typedef struct dJointFeedback
{
dVector3 f1; /* force applied to body 1 */
dVector3 t1; /* torque applied to body 1 */
dVector3 f2; /* force applied to body 2 */
dVector3 t2; /* torque applied to body 2 */
}
dJointFeedback;
typedef enum dJointType
{
dJointTypeNone = 0,
dJointTypeBall,
dJointTypeHinge,
dJointTypeSlider,
dJointTypeContact,
dJointTypeUniversal,
dJointTypeHinge2,
dJointTypeFixed,
dJointTypeNull,
dJointTypeAMotor,
dJointTypeLMotor,
dJointTypePlane2D,
dJointTypePR,
dJointTypePU,
dJointTypePiston
}
dJointType;
#define D_ALL_PARAM_NAMES(start) \
/* parameters for limits and motors */ \
dParamLoStop = start, \
dParamHiStop, \
dParamVel, \
dParamFMax, \
dParamFudgeFactor, \
dParamBounce, \
dParamCFM, \
dParamStopERP, \
dParamStopCFM, \
/* parameters for suspension */ \
dParamSuspensionERP, \
dParamSuspensionCFM, \
dParamERP, \
#define D_ALL_PARAM_NAMES_X(start,x) \
/* parameters for limits and motors */ \
dParamLoStop ## x = start, \
dParamHiStop ## x, \
dParamVel ## x, \
dParamFMax ## x, \
dParamFudgeFactor ## x, \
dParamBounce ## x, \
dParamCFM ## x, \
dParamStopERP ## x, \
dParamStopCFM ## x, \
/* parameters for suspension */ \
dParamSuspensionERP ## x, \
dParamSuspensionCFM ## x, \
dParamERP ## x,
enum {
D_ALL_PARAM_NAMES(0)
D_ALL_PARAM_NAMES_X(0x100,2)
D_ALL_PARAM_NAMES_X(0x200,3)
/* add a multiple of this constant to the basic parameter numbers to get
* the parameters for the second, third etc axes.
*/
dParamGroup=0x100
};
typedef struct dMass
{
dReal mass;
dVector3 c;
dMatrix3 I;
}
dMass;
enum
{
dContactMu2 = 0x001,
dContactFDir1 = 0x002,
dContactBounce = 0x004,
dContactSoftERP = 0x008,
dContactSoftCFM = 0x010,
dContactMotion1 = 0x020,
dContactMotion2 = 0x040,
dContactMotionN = 0x080,
dContactSlip1 = 0x100,
dContactSlip2 = 0x200,
dContactApprox0 = 0x0000,
dContactApprox1_1 = 0x1000,
dContactApprox1_2 = 0x2000,
dContactApprox1 = 0x3000
};
typedef struct dSurfaceParameters
{
/* must always be defined */
int mode;
dReal mu;
/* only defined if the corresponding flag is set in mode */
dReal mu2;
dReal bounce;
dReal bounce_vel;
dReal soft_erp;
dReal soft_cfm;
dReal motion1,motion2,motionN;
dReal slip1,slip2;
} dSurfaceParameters;
typedef struct dContactGeom
{
dVector3 pos; ///< contact position
dVector3 normal; ///< normal vector
dReal depth; ///< penetration depth
dGeomID g1,g2; ///< the colliding geoms
int side1,side2; ///< (to be documented)
}
dContactGeom;
typedef struct dContact
{
dSurfaceParameters surface;
dContactGeom geom;
dVector3 fdir1;
}
dContact;
typedef void VARGS dNearCallback (void *data, dGeomID o1, dGeomID o2);
// SAP
// Order XZY or ZXY usually works best, if your Y is up.
#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
//const char* (ODE_API *dGetConfiguration)(void);
int (ODE_API *dCheckConfiguration)( const char* token );
int (ODE_API *dInitODE)(void);
//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
//void (ODE_API *dCleanupODEAllDataForThread)(void);
void (ODE_API *dCloseODE)(void);
//int (ODE_API *dMassCheck)(const dMass *m);
//void (ODE_API *dMassSetZero)(dMass *);
//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
//
dWorldID (ODE_API *dWorldCreate)(void);
void (ODE_API *dWorldDestroy)(dWorldID world);
void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
//dReal (ODE_API *dWorldGetERP)(dWorldID);
void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
//dReal (ODE_API *dWorldGetCFM)(dWorldID);
void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
dBodyID (ODE_API *dBodyCreate)(dWorldID);
void (ODE_API *dBodyDestroy)(dBodyID);
void (ODE_API *dBodySetData)(dBodyID, void *data);
void * (ODE_API *dBodyGetData)(dBodyID);
void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
int (ODE_API *dBodyGetNumJoints)(dBodyID b);
dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
//void (ODE_API *dBodySetDynamic)(dBodyID);
//void (ODE_API *dBodySetKinematic)(dBodyID);
//int (ODE_API *dBodyIsKinematic)(dBodyID);
void (ODE_API *dBodyEnable)(dBodyID);
void (ODE_API *dBodyDisable)(dBodyID);
//int (ODE_API *dBodyIsEnabled)(dBodyID);
void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
int (ODE_API *dBodyGetGravityMode)(dBodyID b);
//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
void (ODE_API *dJointDestroy)(dJointID);
dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
void (ODE_API *dJointGroupDestroy)(dJointGroupID);
void (ODE_API *dJointGroupEmpty)(dJointGroupID);
//int (ODE_API *dJointGetNumBodies)(dJointID);
void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
void (ODE_API *dJointEnable)(dJointID);
void (ODE_API *dJointDisable)(dJointID);
//int (ODE_API *dJointIsEnabled)(dJointID);
void (ODE_API *dJointSetData)(dJointID, void *data);
void * (ODE_API *dJointGetData)(dJointID);
//dJointType (ODE_API *dJointGetType)(dJointID);
dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
void (ODE_API *dJointSetFixed)(dJointID);
//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPRPosition)(dJointID);
//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
//dReal (ODE_API *dJointGetPRAngle)(dJointID);
//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPUPosition)(dJointID);
//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
//int (ODE_API *dJointGetAMotorMode)(dJointID);
//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
int (ODE_API *dAreConnected)(dBodyID, dBodyID);
int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
//
dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
void (ODE_API *dSpaceDestroy)(dSpaceID);
//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
//void (ODE_API *dSpaceClean)(dSpaceID);
//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
//int (ODE_API *dSpaceGetClass)(dSpaceID space);
//
void (ODE_API *dGeomDestroy)(dGeomID geom);
void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
void * (ODE_API *dGeomGetData)(dGeomID geom);
void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
int (ODE_API *dGeomIsSpace)(dGeomID geom);
//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
//int (ODE_API *dGeomGetClass)(dGeomID geom);
//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
//void (ODE_API *dGeomEnable)(dGeomID geom);
//void (ODE_API *dGeomDisable)(dGeomID geom);
//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
//void (ODE_API *dGeomClearOffset)(dGeomID geom);
//int (ODE_API *dGeomIsOffset)(dGeomID geom);
//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
//
void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
//
dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
//
//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//
dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//
//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
//
dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
//
dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
//
//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
//
dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
enum { TRIMESH_FACE_NORMALS };
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
static dllfunction_t odefuncs[] =
{
// {"dGetConfiguration", (void **) &dGetConfiguration},
{(void **) &dCheckConfiguration, "dCheckConfiguration"},
{(void **) &dInitODE, "dInitODE"},
// {"dInitODE2", (void **) &dInitODE2},
// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
{(void **) &dCloseODE, "dCloseODE"},
// {"dMassCheck", (void **) &dMassCheck},
// {"dMassSetZero", (void **) &dMassSetZero},
// {"dMassSetParameters", (void **) &dMassSetParameters},
// {"dMassSetSphere", (void **) &dMassSetSphere},
{(void **) &dMassSetSphereTotal, "dMassSetSphereTotal"},
// {"dMassSetCapsule", (void **) &dMassSetCapsule},
{(void **) &dMassSetCapsuleTotal, "dMassSetCapsuleTotal"},
// {"dMassSetCylinder", (void **) &dMassSetCylinder},
{(void **) &dMassSetCylinderTotal, "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},
{(void **) &dWorldSetAutoDisableLinearThreshold,"dWorldSetAutoDisableLinearThreshold"},
// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
{(void **) &dWorldSetAutoDisableAngularThreshold,"dWorldSetAutoDisableAngularThreshold"},
// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
{(void **)&dWorldSetAutoDisableAverageSamplesCount, "dWorldSetAutoDisableAverageSamplesCount"},
// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
{(void **) &dWorldSetAutoDisableSteps, "dWorldSetAutoDisableSteps"},
// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
{(void **) &dWorldSetAutoDisableTime, "dWorldSetAutoDisableTime"},
// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
{(void **) &dWorldSetAutoDisableFlag, "dWorldSetAutoDisableFlag"},
// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
{(void **) &dWorldSetLinearDampingThreshold, "dWorldSetLinearDampingThreshold"},
// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
{(void **) &dWorldSetAngularDampingThreshold, "dWorldSetAngularDampingThreshold"},
// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
{(void **) &dWorldSetLinearDamping, "dWorldSetLinearDamping"},
// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
{(void **) &dWorldSetAngularDamping, "dWorldSetAngularDamping"},
// {(void **) &dWorldSetDamping, "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},
{(void **) &dBodyAddTorque, "dBodyAddTorque"},
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
{(void **) &dBodyAddForceAtPos, "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},
{(void **) &dBodyEnable, "dBodyEnable"},
{(void **) &dBodyDisable, "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"},
{(void **) &dJointEnable, "dJointEnable"},
{(void **) &dJointDisable, "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},
{(void **) &dJointSetFixed, "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},
{(void **) &dJointGetBallAnchor, "dJointGetBallAnchor"},
// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
// {"dJointGetBallParam", (void **) &dJointGetBallParam},
{(void **) &dJointGetHingeAnchor, "dJointGetHingeAnchor"},
// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
{(void **) &dJointGetHingeAxis, "dJointGetHingeAxis"},
// {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
{(void **) &dJointGetSliderAxis, "dJointGetSliderAxis"},
// {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
{(void **) &dJointGetHinge2Axis1, "dJointGetHinge2Axis1"},
{(void **) &dJointGetHinge2Axis2, "dJointGetHinge2Axis2"},
// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
{(void **) &dJointGetUniversalAnchor, "dJointGetUniversalAnchor"},
// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
{(void **) &dJointGetUniversalAxis1, "dJointGetUniversalAxis1"},
{(void **) &dJointGetUniversalAxis2, "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},
{(void **) &dCreateCylinder, "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
static dllhandle_t *ode_dll = NULL;
#endif
static cvar_t *physics_ode_quadtree_depth;
static cvar_t *physics_ode_contactsurfacelayer;
static cvar_t *physics_ode_worldquickstep;
static cvar_t *physics_ode_worldquickstep_iterations;
static cvar_t *physics_ode_contact_mu;
static cvar_t *physics_ode_contact_erp;
static cvar_t *physics_ode_contact_cfm;
static cvar_t *physics_ode_world_damping;
static cvar_t *physics_ode_world_damping_linear;
static cvar_t *physics_ode_world_damping_linear_threshold;
static cvar_t *physics_ode_world_damping_angular;
static cvar_t *physics_ode_world_damping_angular_threshold;
static cvar_t *physics_ode_world_erp;
static cvar_t *physics_ode_world_cfm;
static cvar_t *physics_ode_iterationsperframe;
static cvar_t *physics_ode_movelimit;
static cvar_t *physics_ode_spinlimit;
static cvar_t *physics_ode_autodisable;
static cvar_t *physics_ode_autodisable_steps;
static cvar_t *physics_ode_autodisable_time;
static cvar_t *physics_ode_autodisable_threshold_linear;
static cvar_t *physics_ode_autodisable_threshold_angular;
static cvar_t *physics_ode_autodisable_threshold_samples;
struct odectx_s
{
rigidbodyengine_t pub;
qboolean hasextraobjs;
dWorldID dworld;
void *space;
void *contactgroup;
// number of constraint solver iterations to use (for dWorldStepFast)
int iterations;
// actual step (server frametime / ode_iterations)
vec_t step;
// max velocity for a 1-unit radius object at current step to prevent
// missed collisions
vec_t movelimit;
rbecommandqueue_t *cmdqueuehead;
rbecommandqueue_t *cmdqueuetail;
};
static void World_ODE_RunCmd(world_t *world, rbecommandqueue_t *cmd);
#ifdef _WIN32
#undef vsnprintf
#undef _vsnprintf
#define vsnprintf(s,l,f,a) _vsnprintf(s,l,f,a);string[sizeof(string)-1] = 0;
#endif
void MyODEErrorHandler (int errnum, const char *msg, va_list ap)
{
char string[1024];
vsnprintf (string,sizeof(string), msg, ap);
string[sizeof(string)-1] = 0;
Sys_Errorf("ODE ERROR %i: %s", errnum, string);
}
void MyODEMessageHandler (int errnum, const char *msg, va_list ap)
{
char string[1024];
vsnprintf (string,sizeof(string), msg, ap);
string[sizeof(string)-1] = 0;
Con_Printf("ODE Message %i: %s\n", errnum, string);
}
static qboolean World_ODE_Init(void)
{
#ifdef ODE_DYNAMIC
const char* dllname =
{
# if defined(_WIN64)
"libode1"
# elif defined(_WIN32)
"ode_double"
# elif defined(MACOSX)
"libode.1.dylib"
# else
"libode.so.1"
# endif
};
#endif
physics_ode_quadtree_depth = pCvar_GetNVFDG("physics_ode_quadtree_depth", "5", 0, "desired subdivision level of quadtree culling space", "ODE Physics Library");
physics_ode_contactsurfacelayer = pCvar_GetNVFDG("physics_ode_contactsurfacelayer", "0", 0, "allows objects to overlap this many units to reduce jitter", "ODE Physics Library");
physics_ode_worldquickstep = pCvar_GetNVFDG("physics_ode_worldquickstep", "1", 0, "use dWorldQuickStep rather than dWorldStep", "ODE Physics Library");
physics_ode_worldquickstep_iterations = pCvar_GetNVFDG("physics_ode_worldquickstep_iterations", "20", 0, "parameter to dWorldQuickStep", "ODE Physics Library");
physics_ode_contact_mu = pCvar_GetNVFDG("physics_ode_contact_mu", "1", 0, "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)", "ODE Physics Library");
physics_ode_contact_erp = pCvar_GetNVFDG("physics_ode_contact_erp", "0.96", 0, "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)", "ODE Physics Library");
physics_ode_contact_cfm = pCvar_GetNVFDG("physics_ode_contact_cfm", "0", 0, "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)", "ODE Physics Library");
physics_ode_world_damping = pCvar_GetNVFDG("physics_ode_world_damping", "1", 0, "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type", "ODE Physics Library");
physics_ode_world_damping_linear = pCvar_GetNVFDG("physics_ode_world_damping_linear", "-1",0, "world linear damping scale (see ODE User Guide); use defaults when set to -1", "ODE Physics Library");
physics_ode_world_damping_linear_threshold = pCvar_GetNVFDG("physics_ode_world_damping_linear_threshold", "-1", 0, "world linear damping threshold (see ODE User Guide); use defaults when set to -1", "ODE Physics Library");
physics_ode_world_damping_angular = pCvar_GetNVFDG("physics_ode_world_damping_angular", "-1",0, "world angular damping scale (see ODE User Guide); use defaults when set to -1", "ODE Physics Library");
physics_ode_world_damping_angular_threshold = pCvar_GetNVFDG("physics_ode_world_damping_angular_threshold", "-1", 0, "world angular damping threshold (see ODE User Guide); use defaults when set to -1", "ODE Physics Library");
physics_ode_world_erp = pCvar_GetNVFDG("physics_ode_world_erp", "-1", 0, "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1", "ODE Physics Library");
physics_ode_world_cfm = pCvar_GetNVFDG("physics_ode_world_cfm", "-1", 0, "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1", "ODE Physics Library");
physics_ode_iterationsperframe = pCvar_GetNVFDG("physics_ode_iterationsperframe", "4", 0, "divisor for time step, runs multiple physics steps per frame", "ODE Physics Library");
physics_ode_movelimit = pCvar_GetNVFDG("physics_ode_movelimit", "0.5", 0, "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls","ODE Physics Library");
physics_ode_spinlimit = pCvar_GetNVFDG("physics_ode_spinlimit", "10000",0, "reset spin velocity if it gets too large", "ODE Physics Library");
physics_ode_autodisable = pCvar_GetNVFDG("physics_ode_autodisable", "1", 0, "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster", "ODE Physics Library");
physics_ode_autodisable_steps = pCvar_GetNVFDG("physics_ode_autodisable_steps", "10", 0, "how many steps object should be dormant to be autodisabled", "ODE Physics Library");
physics_ode_autodisable_time = pCvar_GetNVFDG("physics_ode_autodisable_time", "0", 0, "how many seconds object should be dormant to be autodisabled", "ODE Physics Library");
physics_ode_autodisable_threshold_linear = pCvar_GetNVFDG("physics_ode_autodisable_threshold_linear", "0.2", 0, "body will be disabled if it's linear move below this value", "ODE Physics Library");
physics_ode_autodisable_threshold_angular = pCvar_GetNVFDG("physics_ode_autodisable_threshold_angular", "0.3", 0, "body will be disabled if it's angular move below this value", "ODE Physics Library");
physics_ode_autodisable_threshold_samples = pCvar_GetNVFDG("physics_ode_autodisable_threshold_samples", "5", 0, "average threshold with this number of samples", "ODE Physics Library");
#ifdef ODE_DYNAMIC
// Load the DLL
ode_dll = pSys_LoadLibrary(dllname, odefuncs);
if (ode_dll)
#endif
{
dInitODE();
// dInitODE2(0);
#ifdef ODE_DYNAMIC
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
if (!dCheckConfiguration("ODE_double_precision"))
# endif
{
# ifdef dSINGLE
Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n");
# else
Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n");
# endif
pSys_CloseLibrary(ode_dll);
ode_dll = NULL;
}
#endif
}
#ifdef ODE_DYNAMIC
if (!ode_dll)
{
return false;
}
#endif
dSetErrorHandler(MyODEErrorHandler); //ode will display a messagebox (which probably won't have focus/grabs) and then crash, which messes up all sorts of things like gamma.
dSetDebugHandler(MyODEErrorHandler); //both are fatal.
dSetMessageHandler(MyODEMessageHandler);//merely a print.
return true;
}
static void World_ODE_Shutdown(void)
{
#ifdef ODE_DYNAMIC
if (ode_dll)
#endif
{
dCloseODE();
#ifdef ODE_DYNAMIC
pSys_CloseLibrary(ode_dll);
ode_dll = NULL;
#endif
}
}
static void QDECL World_ODE_End(world_t *world)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
world->rbe = NULL;
dWorldDestroy(ctx->dworld);
dSpaceDestroy(ctx->space);
dJointGroupDestroy(ctx->contactgroup);
Z_Free(ctx);
}
static void QDECL World_ODE_RemoveJointFromEntity(world_t *world, wedict_t *ed)
{
ed->rbe.joint_type = 0;
if(ed->rbe.joint.joint)
dJointDestroy((dJointID)ed->rbe.joint.joint);
ed->rbe.joint.joint = NULL;
}
static void QDECL World_ODE_RemoveFromEntity(world_t *world, wedict_t *ed)
{
if (!ed->rbe.physics)
return;
// entity is not physics controlled, free any physics data
ed->rbe.physics = false;
if (ed->rbe.body.geom)
dGeomDestroy((dGeomID)ed->rbe.body.geom);
ed->rbe.body.geom = NULL;
if (ed->rbe.body.body)
{
dJointID j;
dBodyID b1, b2;
wedict_t *ed2;
while(dBodyGetNumJoints((dBodyID)ed->rbe.body.body))
{
j = dBodyGetJoint((dBodyID)ed->rbe.body.body, 0);
ed2 = (wedict_t *) dJointGetData(j);
b1 = dJointGetBody(j, 0);
b2 = dJointGetBody(j, 1);
if(b1 == (dBodyID)ed->rbe.body.body)
{
b1 = 0;
ed2->rbe.joint_enemy = 0;
}
if(b2 == (dBodyID)ed->rbe.body.body)
{
b2 = 0;
ed2->rbe.joint_aiment = 0;
}
dJointAttach(j, b1, b2);
}
dBodyDestroy((dBodyID)ed->rbe.body.body);
}
ed->rbe.body.body = NULL;
rbefuncs->ReleaseCollisionMesh(ed);
if(ed->rbe.massbuf)
BZ_Free(ed->rbe.massbuf);
ed->rbe.massbuf = NULL;
}
static void World_ODE_Frame_BodyToEntity(world_t *world, wedict_t *ed)
{
model_t *model;
const dReal *avel;
const dReal *o;
const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
const dReal *vel;
dBodyID body = (dBodyID)ed->rbe.body.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);
Matrix4x4_RM_FromVectors(bodymatrix, forward, left, up, origin);
Matrix4_Multiply(ed->rbe.offsetimatrix, bodymatrix, entitymatrix);
Matrix3x4_RM_ToVectors(entitymatrix, forward, left, up, origin);
VectorAngles(forward, up, angles, false);
avelocity[PITCH] = RAD2DEG(spinvelocity[PITCH]);
avelocity[YAW] = RAD2DEG(spinvelocity[ROLL]);
avelocity[ROLL] = RAD2DEG(spinvelocity[YAW]);
if (ed->v->modelindex)
{
model = world->Get_CModel(world, ed->v->modelindex);
if (!model || model->type == mod_alias)
{
angles[PITCH] *= r_meshpitch.value;
avelocity[PITCH] *= r_meshpitch.value;
}
}
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->rbe.origin);
VectorCopy(velocity, ed->rbe.velocity);
VectorCopy(angles, ed->rbe.angles);
VectorCopy(avelocity, ed->rbe.avelocity);
ed->rbe.gravity = dBodyGetGravityMode(body);
rbefuncs->LinkEdict(world, ed, true);
}
static void World_ODE_Frame_JointFromEntity(world_t *world, wedict_t *ed)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
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(ED_ISFREE(o) || o->rbe.body.body == 0)
enemy = 0;
o = (wedict_t*)PROG_TO_EDICT(world->progs, aiment);
if(ED_ISFREE(o) || o->rbe.body.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 / (ctx->step * K + R); // always > 0
ERP = ctx->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->rbe.joint_type && VectorCompare(origin, ed->rbe.joint_origin) && VectorCompare(velocity, ed->rbe.joint_velocity) && VectorCompare(angles, ed->rbe.joint_angles) && enemy == ed->rbe.joint_enemy && aiment == ed->rbe.joint_aiment && VectorCompare(movedir, ed->rbe.joint_movedir))
return; // nothing to do
AngleVectorsFLU(angles, forward, left, up);
switch(jointtype)
{
case JOINTTYPE_POINT:
j = dJointCreateBall(ctx->dworld, 0);
break;
case JOINTTYPE_HINGE:
j = dJointCreateHinge(ctx->dworld, 0);
break;
case JOINTTYPE_SLIDER:
j = dJointCreateSlider(ctx->dworld, 0);
break;
case JOINTTYPE_UNIVERSAL:
j = dJointCreateUniversal(ctx->dworld, 0);
break;
case JOINTTYPE_HINGE2:
j = dJointCreateHinge2(ctx->dworld, 0);
break;
case JOINTTYPE_FIXED:
j = dJointCreateFixed(ctx->dworld, 0);
break;
case 0:
default:
// no joint
j = 0;
break;
}
if(ed->rbe.joint.joint)
{
//Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
dJointAttach(ed->rbe.joint.joint, 0, 0);
dJointDestroy(ed->rbe.joint.joint);
}
ed->rbe.joint.joint = (void *) j;
ed->rbe.joint_type = jointtype;
ed->rbe.joint_enemy = enemy;
ed->rbe.joint_aiment = aiment;
VectorCopy(origin, ed->rbe.joint_origin);
VectorCopy(velocity, ed->rbe.joint_velocity);
VectorCopy(angles, ed->rbe.joint_angles);
VectorCopy(movedir, ed->rbe.joint_movedir);
if(j)
{
//Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
dJointSetData(j, (void *) ed);
if(enemy)
b1 = (dBodyID)((WEDICT_NUM_UB(world->progs, enemy))->rbe.body.body);
if(aiment)
b2 = (dBodyID)((WEDICT_NUM_UB(world->progs, aiment))->rbe.body.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]);
#if ODEVERSION>=MAKE2VER(0,16)
{
dReal a1[]={forward[0], forward[1], forward[2]}, a2[]={velocity[0], velocity[1], velocity[2]};
dJointSetHinge2Axes(j, a1, a2);
}
#else
dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
#endif
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:
break;
}
}
}
static qboolean QDECL World_ODE_RagMatrixToBody(rbebody_t *bodyptr, float *mat)
{
dVector3 r[3];
r[0][0] = mat[0];
r[0][1] = mat[1];
r[0][2] = mat[2];
r[1][0] = mat[4];
r[1][1] = mat[5];
r[1][2] = mat[6];
r[2][0] = mat[8];
r[2][1] = mat[9];
r[2][2] = mat[10];
dBodySetPosition(bodyptr->body, mat[3], mat[7], mat[11]);
dBodySetRotation(bodyptr->body, r[0]);
dBodySetLinearVel(bodyptr->body, 0, 0, 0);
dBodySetAngularVel(bodyptr->body, 0, 0, 0);
return true;
}
static qboolean QDECL World_ODE_RagCreateBody(world_t *world, rbebody_t *bodyptr, rbebodyinfo_t *bodyinfo, float *mat, wedict_t *ent)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
dMass mass;
float radius;
ctx->hasextraobjs = true;
switch(bodyinfo->geomshape)
{
case GEOMTYPE_CAPSULE:
radius = (bodyinfo->dimensions[0] + bodyinfo->dimensions[1]) * 0.5;
bodyptr->geom = (void *)dCreateCapsule(ctx->space, radius, bodyinfo->dimensions[2]);
dMassSetCapsuleTotal(&mass, bodyinfo->mass, 3, radius, bodyinfo->dimensions[2]);
//aligned along the geom's local z axis
break;
case GEOMTYPE_SPHERE:
//radius
radius = (bodyinfo->dimensions[0] + bodyinfo->dimensions[1] + bodyinfo->dimensions[2]) / 3;
bodyptr->geom = dCreateSphere(ctx->space, radius);
dMassSetSphereTotal(&mass, bodyinfo->mass, radius);
//aligned along the geom's local z axis
break;
case GEOMTYPE_CYLINDER:
//radius, length
radius = (bodyinfo->dimensions[0] + bodyinfo->dimensions[1]) * 0.5;
bodyptr->geom = dCreateCylinder(ctx->space, radius, bodyinfo->dimensions[2]);
dMassSetCylinderTotal(&mass, bodyinfo->mass, 3, radius, bodyinfo->dimensions[2]);
//alignment is irreleevnt, thouse I suppose it might be scaled wierdly.
break;
default:
case GEOMTYPE_BOX:
//diameter
bodyptr->geom = dCreateBox(ctx->space, bodyinfo->dimensions[0], bodyinfo->dimensions[1], bodyinfo->dimensions[2]);
dMassSetBoxTotal(&mass, bodyinfo->mass, bodyinfo->dimensions[0], bodyinfo->dimensions[1], bodyinfo->dimensions[2]);
//monkey
break;
}
bodyptr->body = dBodyCreate(ctx->dworld);
dBodySetMass(bodyptr->body, &mass);
dGeomSetBody(bodyptr->geom, bodyptr->body);
dGeomSetData(bodyptr->geom, (void*)ent);
return World_ODE_RagMatrixToBody(bodyptr, mat);
}
static void QDECL World_ODE_RagMatrixFromJoint(rbejoint_t *joint, rbejointinfo_t *info, float *mat)
{
dVector3 dr3;
switch(info->type)
{
case JOINTTYPE_POINT:
dJointGetBallAnchor(joint->joint, dr3);
mat[3] = dr3[0];
mat[7] = dr3[1];
mat[11] = dr3[2];
VectorClear(mat+4);
VectorClear(mat+8);
break;
case JOINTTYPE_HINGE:
dJointGetHingeAnchor(joint->joint, dr3);
mat[3] = dr3[0];
mat[7] = dr3[1];
mat[11] = dr3[2];
dJointGetHingeAxis(joint->joint, dr3);
VectorCopy(dr3, mat+4);
VectorClear(mat+8);
CrossProduct(mat+4, mat+8, mat+0);
return;
break;
case JOINTTYPE_HINGE2:
dJointGetHinge2Anchor(joint->joint, dr3);
mat[3] = dr3[0];
mat[7] = dr3[1];
mat[11] = dr3[2];
dJointGetHinge2Axis1(joint->joint, dr3);
VectorCopy(dr3, mat+4);
dJointGetHinge2Axis2(joint->joint, dr3);
VectorCopy(dr3, mat+8);
break;
case JOINTTYPE_SLIDER:
//no anchor point...
//get the two bodies and average their origin for a somewhat usable representation of an anchor.
{
const dReal *p1, *p2;
dReal n[3];
dBodyID b1 = dJointGetBody(joint->joint, 0), b2 = dJointGetBody(joint->joint, 1);
if (b1)
p1 = dBodyGetPosition(b1);
else
{
p1 = n;
VectorClear(n);
}
if (b2)
p2 = dBodyGetPosition(b2);
else
p2 = p1;
dJointGetSliderAxis(joint->joint, dr3 + 0);
VectorInterpolate(p1, 0.5, p2, dr3);
mat[3] = dr3[0];
mat[7] = dr3[1];
mat[11] = dr3[2];
VectorClear(mat+4);
VectorClear(mat+8);
}
break;
case JOINTTYPE_UNIVERSAL:
dJointGetUniversalAnchor(joint->joint, dr3);
mat[3] = dr3[0];
mat[7] = dr3[1];
mat[11] = dr3[2];
dJointGetUniversalAxis1(joint->joint, dr3);
VectorCopy(dr3, mat+4);
dJointGetUniversalAxis2(joint->joint, dr3);
VectorCopy(dr3, mat+8);
CrossProduct(mat+4, mat+8, mat+0);
return;
break;
}
AngleVectorsFLU(vec3_origin, mat+0, mat+4, mat+8);
}
static void QDECL World_ODE_RagMatrixFromBody(world_t *world, rbebody_t *bodyptr, float *mat)
{
const dReal *o = dBodyGetPosition(bodyptr->body);
const dReal *r = dBodyGetRotation(bodyptr->body);
mat[0] = r[0];
mat[1] = r[1];
mat[2] = r[2];
mat[3] = o[0];
mat[4] = r[4];
mat[5] = r[5];
mat[6] = r[6];
mat[7] = o[1];
mat[8] = r[8];
mat[9] = r[9];
mat[10] = r[10];
mat[11] = o[2];
}
static void QDECL World_ODE_RagEnableJoint(rbejoint_t *joint, qboolean enabled)
{
if (enabled)
dJointEnable(joint->joint);
else
dJointDisable(joint->joint);
}
static void QDECL World_ODE_RagCreateJoint(world_t *world, rbejoint_t *joint, rbejointinfo_t *info, rbebody_t *body1, rbebody_t *body2, vec3_t aaa2[3])
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
switch(info->type)
{
case JOINTTYPE_POINT:
joint->joint = dJointCreateBall(ctx->dworld, 0);
break;
case JOINTTYPE_HINGE:
joint->joint = dJointCreateHinge(ctx->dworld, 0);
break;
case JOINTTYPE_SLIDER:
joint->joint = dJointCreateSlider(ctx->dworld, 0);
break;
case JOINTTYPE_UNIVERSAL:
joint->joint = dJointCreateUniversal(ctx->dworld, 0);
break;
case JOINTTYPE_HINGE2:
joint->joint = dJointCreateHinge2(ctx->dworld, 0);
break;
case JOINTTYPE_FIXED:
joint->joint = dJointCreateFixed(ctx->dworld, 0);
break;
default:
joint->joint = NULL;
break;
}
if (joint->joint)
{
//Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
// dJointSetData(joint->ode_joint, NULL);
dJointAttach(joint->joint, body1?body1->body:NULL, body2?body2->body:NULL);
switch(info->type)
{
case JOINTTYPE_POINT:
dJointSetBallAnchor(joint->joint, aaa2[0][0], aaa2[0][1], aaa2[0][2]);
break;
case JOINTTYPE_HINGE:
dJointSetHingeAnchor(joint->joint, aaa2[0][0], aaa2[0][1], aaa2[0][2]);
dJointSetHingeAxis(joint->joint, aaa2[1][0], aaa2[1][1], aaa2[1][2]);
dJointSetHingeParam(joint->joint, dParamFMax, info->FMax);
dJointSetHingeParam(joint->joint, dParamHiStop, info->HiStop);
dJointSetHingeParam(joint->joint, dParamLoStop, info->LoStop);
dJointSetHingeParam(joint->joint, dParamStopCFM, info->CFM);
dJointSetHingeParam(joint->joint, dParamStopERP, info->ERP);
dJointSetHingeParam(joint->joint, dParamVel, info->Vel);
break;
case JOINTTYPE_SLIDER:
dJointSetSliderAxis(joint->joint, aaa2[1][0], aaa2[1][1], aaa2[1][2]);
dJointSetSliderParam(joint->joint, dParamFMax, info->FMax);
dJointSetSliderParam(joint->joint, dParamHiStop, info->HiStop);
dJointSetSliderParam(joint->joint, dParamLoStop, info->LoStop);
dJointSetSliderParam(joint->joint, dParamStopCFM, info->CFM);
dJointSetSliderParam(joint->joint, dParamStopERP, info->ERP);
dJointSetSliderParam(joint->joint, dParamVel, info->Vel);
break;
case JOINTTYPE_UNIVERSAL:
dJointSetUniversalAnchor(joint->joint, aaa2[0][0], aaa2[0][1], aaa2[0][2]);
dJointSetUniversalAxis1(joint->joint, aaa2[1][0], aaa2[1][1], aaa2[1][2]);
dJointSetUniversalAxis2(joint->joint, aaa2[2][0], aaa2[2][1], aaa2[2][2]);
dJointSetUniversalParam(joint->joint, dParamFMax, info->FMax);
dJointSetUniversalParam(joint->joint, dParamHiStop, info->HiStop);
dJointSetUniversalParam(joint->joint, dParamLoStop, info->LoStop);
dJointSetUniversalParam(joint->joint, dParamStopCFM, info->CFM);
dJointSetUniversalParam(joint->joint, dParamStopERP, info->ERP);
dJointSetUniversalParam(joint->joint, dParamVel, info->Vel);
dJointSetUniversalParam(joint->joint, dParamFMax2, info->FMax2);
dJointSetUniversalParam(joint->joint, dParamHiStop2, info->HiStop2);
dJointSetUniversalParam(joint->joint, dParamLoStop2, info->LoStop2);
dJointSetUniversalParam(joint->joint, dParamStopCFM2, info->CFM2);
dJointSetUniversalParam(joint->joint, dParamStopERP2, info->ERP2);
dJointSetUniversalParam(joint->joint, dParamVel2, info->Vel2);
break;
case JOINTTYPE_HINGE2:
dJointSetHinge2Anchor(joint->joint, aaa2[0][0], aaa2[0][1], aaa2[0][2]);
#if ODEVERSION>=MAKE2VER(0,16)
{
dReal a1[]={aaa2[1][0], aaa2[1][1], aaa2[1][2]}, a2[]={aaa2[2][0], aaa2[2][1], aaa2[2][2]};
dJointSetHinge2Axes(joint->joint, a1, a2);
}
#else
dJointSetHinge2Axis1(joint->joint, aaa2[1][0], aaa2[1][1], aaa2[1][2]);
dJointSetHinge2Axis2(joint->joint, aaa2[2][0], aaa2[2][1], aaa2[2][2]);
#endif
dJointSetHinge2Param(joint->joint, dParamFMax, info->FMax);
dJointSetHinge2Param(joint->joint, dParamHiStop, info->HiStop);
dJointSetHinge2Param(joint->joint, dParamLoStop, info->LoStop);
dJointSetHinge2Param(joint->joint, dParamStopCFM, info->CFM);
dJointSetHinge2Param(joint->joint, dParamStopERP, info->ERP);
dJointSetHinge2Param(joint->joint, dParamVel, info->Vel);
dJointSetHinge2Param(joint->joint, dParamFMax2, info->FMax2);
dJointSetHinge2Param(joint->joint, dParamHiStop2, info->HiStop2);
dJointSetHinge2Param(joint->joint, dParamLoStop2, info->LoStop2);
dJointSetHinge2Param(joint->joint, dParamStopCFM2, info->CFM2);
dJointSetHinge2Param(joint->joint, dParamStopERP2, info->ERP2);
dJointSetHinge2Param(joint->joint, dParamVel2, info->Vel2);
break;
case JOINTTYPE_FIXED:
dJointSetFixed(joint->joint);
break;
}
}
}
static void QDECL World_ODE_RagDestroyBody(world_t *world, rbebody_t *bodyptr)
{
if (bodyptr->geom)
dGeomDestroy(bodyptr->geom);
bodyptr->geom = NULL;
if (bodyptr->body)
dBodyDestroy(bodyptr->body);
bodyptr->body = NULL;
}
static void QDECL World_ODE_RagDestroyJoint(world_t *world, rbejoint_t *joint)
{
if (joint->joint)
dJointDestroy(joint->joint);
joint->joint = NULL;
}
static void World_ODE_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
dBodyID body = (dBodyID)ed->rbe.body.body;
dMass mass;
float test;
void *dataID;
model_t *model;
int axisindex;
int modelindex = 0;
int movetype = MOVETYPE_NONE;
int solid = SOLID_NOT;
int geomtype = GEOMTYPE_SOLID;
qboolean modified = false;
vec3_t angles;
vec3_t avelocity;
vec3_t entmaxs;
vec3_t entmins;
vec3_t forward;
vec3_t geomcenter;
vec3_t geomsize;
vec3_t left;
vec3_t origin;
vec3_t spinvelocity;
vec3_t up;
vec3_t velocity;
vec_t f;
vec_t length;
vec_t massval = 1.0f;
vec_t movelimit;
vec_t radius;
vec_t scale;
vec_t spinlimit;
qboolean gravity;
#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
geomtype = (int)ed->xv->geomtype;
solid = (int)ed->v->solid;
movetype = (int)ed->v->movetype;
scale = ed->xv->scale?ed->xv->scale:1;
modelindex = 0;
model = NULL;
if (!geomtype)
{
switch((int)ed->v->solid)
{
case SOLID_NOT: geomtype = GEOMTYPE_NONE; break;
case SOLID_TRIGGER: geomtype = GEOMTYPE_NONE; break;
case SOLID_BSP: geomtype = GEOMTYPE_TRIMESH; break;
case SOLID_PHYSICS_TRIMESH: geomtype = GEOMTYPE_TRIMESH; break;
case SOLID_PHYSICS_BOX: geomtype = GEOMTYPE_BOX; break;
case SOLID_PHYSICS_SPHERE: geomtype = GEOMTYPE_SPHERE; break;
case SOLID_PHYSICS_CAPSULE: geomtype = GEOMTYPE_CAPSULE; break;
case SOLID_PHYSICS_CYLINDER:geomtype = GEOMTYPE_CYLINDER; break;
default: geomtype = GEOMTYPE_BOX; break;
}
}
switch(geomtype)
{
case GEOMTYPE_TRIMESH:
modelindex = (int)ed->v->modelindex;
model = world->Get_CModel(world, modelindex);
if (model)
{
VectorScale(model->mins, scale, entmins);
VectorScale(model->maxs, scale, entmaxs);
if (ed->xv->mass)
massval = ed->xv->mass;
}
else
{
VectorClear(entmins);
VectorClear(entmaxs);
modelindex = 0;
massval = 1.0f;
}
break;
case GEOMTYPE_BOX:
case GEOMTYPE_SPHERE:
case GEOMTYPE_CAPSULE:
case GEOMTYPE_CAPSULE_X:
case GEOMTYPE_CAPSULE_Y:
case GEOMTYPE_CAPSULE_Z:
case GEOMTYPE_CYLINDER:
case GEOMTYPE_CYLINDER_X:
case GEOMTYPE_CYLINDER_Y:
case GEOMTYPE_CYLINDER_Z:
VectorCopy(ed->v->mins, entmins);
VectorCopy(ed->v->maxs, entmaxs);
if (ed->xv->mass)
massval = ed->xv->mass;
break;
default:
// case GEOMTYPE_NONE:
if (ed->rbe.physics)
World_ODE_RemoveFromEntity(world, ed);
return;
}
VectorSubtract(entmaxs, entmins, geomsize);
if (DotProduct(geomsize,geomsize) == 0)
{
// we don't allow point-size physics objects...
if (ed->rbe.physics)
World_ODE_RemoveFromEntity(world, ed);
return;
}
if (movetype != MOVETYPE_PHYSICS)
massval = 1.0f;
// check if we need to create or replace the geom
if (!ed->rbe.physics
|| !VectorCompare(ed->rbe.mins, entmins)
|| !VectorCompare(ed->rbe.maxs, entmaxs)
|| ed->rbe.mass != massval
|| ed->rbe.modelindex != modelindex)
{
modified = true;
World_ODE_RemoveFromEntity(world, ed);
ed->rbe.physics = true;
VectorCopy(entmins, ed->rbe.mins);
VectorCopy(entmaxs, ed->rbe.maxs);
ed->rbe.mass = massval;
ed->rbe.modelindex = modelindex;
VectorAvg(entmins, entmaxs, geomcenter);
ed->rbe.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(geomtype)
{
case GEOMTYPE_TRIMESH:
Matrix4x4_Identity(ed->rbe.offsetmatrix);
ed->rbe.body.geom = NULL;
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));
if (ed->rbe.physics)
World_ODE_RemoveFromEntity(world, ed);
return;
}
if (!rbefuncs->GenerateCollisionMesh(world, model, ed, geomcenter))
{
if (ed->rbe.physics)
World_ODE_RemoveFromEntity(world, ed);
return;
}
Matrix4x4_RM_CreateTranslate(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
// now create the geom
dataID = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(dataID, (void*)ed->rbe.vertex3f, sizeof(float[3]), ed->rbe.numvertices, ed->rbe.element3i, ed->rbe.numtriangles*3, sizeof(int[3]));
ed->rbe.body.geom = (void *)dCreateTriMesh(ctx->space, dataID, NULL, NULL, NULL);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
case GEOMTYPE_BOX:
Matrix4x4_RM_CreateTranslate(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->rbe.body.geom = (void *)dCreateBox(ctx->space, geomsize[0], geomsize[1], geomsize[2]);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
case GEOMTYPE_SPHERE:
Matrix4x4_RM_CreateTranslate(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->rbe.body.geom = (void *)dCreateSphere(ctx->space, geomsize[0] * 0.5f);
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
break;
case GEOMTYPE_CAPSULE:
case GEOMTYPE_CAPSULE_X:
case GEOMTYPE_CAPSULE_Y:
case GEOMTYPE_CAPSULE_Z:
if (geomtype == GEOMTYPE_CAPSULE)
{
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
if (geomsize[axisindex] < geomsize[2])
axisindex = 2;
}
else
axisindex = geomtype-GEOMTYPE_CAPSULE_X;
// 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
if (axisindex == 0)
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
radius = min(geomsize[1], geomsize[2]) * 0.5f;
}
else if (axisindex == 1)
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
radius = min(geomsize[0], geomsize[2]) * 0.5f;
}
else
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
radius = min(geomsize[0], geomsize[1]) * 0.5f;
}
length = geomsize[axisindex] - radius*2;
if (length <= 0)
{
radius -= (1 - length)*0.5;
length = 1;
}
// 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->rbe.body.geom = (void *)dCreateCapsule(ctx->space, radius, length);
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
break;
case GEOMTYPE_CYLINDER:
case GEOMTYPE_CYLINDER_X:
case GEOMTYPE_CYLINDER_Y:
case GEOMTYPE_CYLINDER_Z:
if (geomtype == GEOMTYPE_CYLINDER)
{
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
if (geomsize[axisindex] < geomsize[2])
axisindex = 2;
}
else
axisindex = geomtype-GEOMTYPE_CYLINDER_X;
// 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
if (axisindex == 0)
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
radius = min(geomsize[1], geomsize[2]) * 0.5f;
}
else if (axisindex == 1)
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
radius = min(geomsize[0], geomsize[2]) * 0.5f;
}
else
{
Matrix4x4_CM_ModelMatrix(ed->rbe.offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
radius = min(geomsize[0], geomsize[1]) * 0.5f;
}
length = geomsize[axisindex] - radius*2;
if (length <= 0)
{
radius -= (1 - length)*0.5;
length = 1;
}
// 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->rbe.body.geom = (void *)dCreateCylinder(ctx->space, radius, length);
dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
break;
default:
Sys_Errorf("World_ODE_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
}
Matrix3x4_InvertTo4x4_Simple(ed->rbe.offsetmatrix, ed->rbe.offsetimatrix);
ed->rbe.massbuf = BZ_Malloc(sizeof(dMass));
memcpy(ed->rbe.massbuf, &mass, sizeof(dMass));
}
if(ed->rbe.body.geom)
dGeomSetData(ed->rbe.body.geom, (void*)ed);
if (movetype == MOVETYPE_PHYSICS && ed->rbe.body.geom)
{
if (ed->rbe.body.body == NULL)
{
ed->rbe.body.body = (void *)(body = dBodyCreate(ctx->dworld));
dGeomSetBody(ed->rbe.body.geom, body);
dBodySetData(body, (void*)ed);
dBodySetMass(body, (dMass *) ed->rbe.massbuf);
modified = true;
}
}
else
{
if (ed->rbe.body.body != NULL)
{
if(ed->rbe.body.geom)
dGeomSetBody(ed->rbe.body.geom, 0);
dBodyDestroy((dBodyID) ed->rbe.body.body);
ed->rbe.body.body = NULL;
modified = true;
}
}
// get current data from entity
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); else VectorClear(forward);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left); else VectorClear(left);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up); else VectorClear(up);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity); else VectorClear(spinvelocity);
VectorCopy(ed->v->angles, angles);
VectorCopy(ed->v->avelocity, avelocity);
if (ed == world->edicts || (ed->xv->gravity && ed->xv->gravity <= 0.01))
gravity = false;
// compatibility for legacy entities
// if (!DotProduct(forward,forward) || solid == SOLID_BSP)
{
vec3_t qangles, qavelocity;
VectorCopy(angles, qangles);
VectorCopy(avelocity, qavelocity);
if (ed->v->modelindex)
{
model = world->Get_CModel(world, ed->v->modelindex);
if (!model || model->type == mod_alias)
{
qangles[PITCH] *= r_meshpitch.value;
qavelocity[PITCH] *= r_meshpitch.value;
}
}
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->rbe.origin)
|| !VectorCompare(velocity, ed->rbe.velocity)
|| !VectorCompare(angles, ed->rbe.angles)
|| !VectorCompare(avelocity, ed->rbe.avelocity)
|| gravity != ed->rbe.gravity)
modified = true;
// store the qc values into the physics engine
body = ed->rbe.body.body;
if (modified && ed->rbe.body.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->rbe.origin))
Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->rbe.origin[0], ed->rbe.origin[1], ed->rbe.origin[2], origin[0], origin[1], origin[2]);
if(!VectorCompare(velocity, ed->rbe.velocity))
Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->rbe.velocity[0], ed->rbe.velocity[1], ed->rbe.velocity[2], velocity[0], velocity[1], velocity[2]);
if(!VectorCompare(angles, ed->rbe.angles))
Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->rbe.angles[0], ed->rbe.angles[1], ed->rbe.angles[2], angles[0], angles[1], angles[2]);
if(!VectorCompare(avelocity, ed->rbe.avelocity))
Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->rbe.avelocity[0], ed->rbe.avelocity[1], ed->rbe.avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
if(gravity != ed->rbe.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->rbe.origin);
VectorCopy(velocity, ed->rbe.velocity);
VectorCopy(angles, ed->rbe.angles);
VectorCopy(avelocity, ed->rbe.avelocity);
ed->rbe.gravity = gravity;
Matrix4x4_RM_FromVectors(entitymatrix, forward, left, up, origin);
Matrix4_Multiply(ed->rbe.offsetmatrix, entitymatrix, bodymatrix);
Matrix3x4_RM_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->rbe.body.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->rbe.body.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->rbe.body.geom, 0);
}
}
else
{
// no body... then let's adjust the parameters of the geom directly
dGeomSetBody(ed->rbe.body.geom, 0); // just in case we previously HAD a body (which should never happen)
dGeomSetPosition(ed->rbe.body.geom, origin[0], origin[1], origin[2]);
dGeomSetRotation(ed->rbe.body.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 = ctx->movelimit * ctx->movelimit;
test = DotProduct(ovelocity,ovelocity);
if (test > movelimit*movelimit)
{
// scale down linear velocity to the movelimit
// scale down angular velocity the same amount for consistency
f = movelimit / sqrt(test);
VectorScale(ovelocity, f, velocity);
VectorScale(ospinvelocity, f, spinvelocity);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
}
// make sure the angular velocity is not exploding
spinlimit = physics_ode_spinlimit->value;
test = DotProduct(ospinvelocity,ospinvelocity);
if (test > spinlimit)
{
dBodySetAngularVel(body, 0, 0, 0);
}
}
}
#define MAX_CONTACTS 16
static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
{
world_t *world = (world_t *)data;
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
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;
float erp;
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);
ed2 = (wedict_t *) dGeomGetData(o2);
if (ed1 == ed2 && ed1)
{
//ragdolls don't make contact with the bbox of the doll entity
//the origional entity should probably not be solid anyway.
//these bodies should probably not collide against bboxes of other entities with ragdolls either, but meh.
if (ed1->rbe.body.body == b1 || ed2->rbe.body.body == b2)
return;
}
if(!ed1 || ED_ISFREE(ed1))
ed1 = world->edicts;
if(!ed2 || ED_ISFREE(ed2))
ed2 = world->edicts;
//non-solid things can still interact with pushers, but not other stuff.
if (!ed1->v->solid && ed2->v->solid != SOLID_BSP)
return;
if (!ed2->v->solid && ed1->v->solid != SOLID_BSP)
return;
// generate contact points between the two non-space geoms
numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
if (numcontacts)
{
if(ed1 && ed1->v->touch)
{ //no trace info here. you'll have to figure it out yourself or something.
world->Event_Touch(world, ed1, ed2, NULL);
}
if(ed2 && ed2->v->touch)
{
world->Event_Touch(world, ed2, ed1, NULL);
}
/* if either ent killed itself, don't collide */
if ((ed1&&ED_ISFREE(ed1)) || (ed2&&ED_ISFREE(ed2)))
return;
}
if(ed1)
{
if (ed1->xv->bouncefactor)
bouncefactor1 = ed1->xv->bouncefactor;
if (ed1->xv->bouncestop)
bouncestop1 = ed1->xv->bouncestop;
}
if(ed2)
{
if (ed2->xv->bouncefactor)
bouncefactor2 = ed2->xv->bouncefactor;
if (ed2->xv->bouncestop)
bouncestop2 = ed2->xv->bouncestop;
}
if ((ed2->entnum&&ed1->v->owner == ed2->entnum) || (ed1->entnum&&ed2->v->owner == ed1->entnum))
return;
// merge bounce factors and bounce stop
if(bouncefactor2 > 0)
{
if(bouncefactor1 > 0)
{
// TODO possibly better logic to merge bounce factor data?
if(bouncestop2 < bouncestop1)
bouncestop1 = bouncestop2;
if(bouncefactor2 > bouncefactor1)
bouncefactor1 = bouncefactor2;
}
else
{
bouncestop1 = bouncestop2;
bouncefactor1 = bouncefactor2;
}
}
dWorldGetGravity(ctx->dworld, grav);
bouncestop1 *= fabs(grav[2]);
erp = (DotProduct(ed1->v->velocity, ed1->v->velocity) > DotProduct(ed2->v->velocity, ed2->v->velocity)) ? ed1->xv->erp : ed2->xv->erp;
// 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;
if (ed1->xv->friction)
contact[i].surface.mu *= ed1->xv->friction;
if (ed2->xv->friction)
contact[i].surface.mu *= ed2->xv->friction;
contact[i].surface.mu2 = 0;
contact[i].surface.soft_erp = physics_ode_contact_erp->value + erp;
contact[i].surface.soft_cfm = physics_ode_contact_cfm->value;
contact[i].surface.bounce = bouncefactor1;
contact[i].surface.bounce_vel = bouncestop1;
c = dJointCreateContact(ctx->dworld, ctx->contactgroup, contact + i);
dJointAttach(c, b1, b2);
}
}
static void QDECL World_ODE_Frame(world_t *world, double frametime, double gravity)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
if (world->rbe_hasphysicsents || ctx->hasextraobjs)
{
int i;
wedict_t *ed;
ctx->iterations = bound(1, physics_ode_iterationsperframe->ival, 1000);
ctx->step = frametime / ctx->iterations;
ctx->movelimit = physics_ode_movelimit->value / ctx->step;
if (world->rbe_hasphysicsents || ctx->hasextraobjs)
{
// copy physics properties from entities to physics engine
for (i = 0;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM_PB(world->progs, i);
if (!ED_ISFREE(ed))
World_ODE_Frame_BodyFromEntity(world, ed);
}
// oh, and it must be called after all bodies were created
for (i = 0;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM_PB(world->progs, i);
if (!ED_ISFREE(ed))
World_ODE_Frame_JointFromEntity(world, ed);
}
while(ctx->cmdqueuehead)
{
rbecommandqueue_t *cmd = ctx->cmdqueuehead;
ctx->cmdqueuehead = cmd->next;
if (!cmd->next)
ctx->cmdqueuetail = NULL;
World_ODE_RunCmd(world, cmd);
Z_Free(cmd);
}
}
for (i = 0;i < ctx->iterations;i++)
{
// set the gravity
dWorldSetGravity(ctx->dworld, 0, 0, -gravity);
// set the tolerance for closeness of objects
dWorldSetContactSurfaceLayer(ctx->dworld, max(0, physics_ode_contactsurfacelayer->value));
// run collisions for the current world state, creating JointGroup
dSpaceCollide(ctx->space, (void *)world, nearCallback);
// run physics (move objects, calculate new velocities)
if (physics_ode_worldquickstep->ival)
{
dWorldSetQuickStepNumIterations(ctx->dworld, bound(1, physics_ode_worldquickstep_iterations->ival, 200));
dWorldQuickStep(ctx->dworld, ctx->step);
}
else
dWorldStep(ctx->dworld, ctx->step);
// clear the JointGroup now that we're done with it
dJointGroupEmpty(ctx->contactgroup);
}
if (world->rbe_hasphysicsents)
{
// copy physics properties from physics engine to entities
for (i = 1;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM_PB(world->progs, i);
if (!ED_ISFREE(ed))
World_ODE_Frame_BodyToEntity(world, ed);
}
}
}
}
static void QDECL World_ODE_PushCommand(world_t *world, rbecommandqueue_t *val)
{
struct odectx_s *ctx = (struct odectx_s*)world->rbe;
rbecommandqueue_t *cmd = (rbecommandqueue_t*)BZ_Malloc(sizeof(*cmd));
world->rbe_hasphysicsents = qtrue; //just in case.
memcpy(cmd, val, sizeof(*cmd));
cmd->next = NULL;
//add on the end of the queue, so that order is preserved.
if (ctx->cmdqueuehead)
{
rbecommandqueue_t *ot = ctx->cmdqueuetail;
ot->next = ctx->cmdqueuetail = cmd;
}
else
ctx->cmdqueuetail = ctx->cmdqueuehead = cmd;
}
static void QDECL World_ODE_Start(world_t *world)
{
struct odectx_s *ctx;
dVector3 center, extents;
if (world->rbe)
return;
#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
ctx = BZ_Malloc(sizeof(*ctx));
memset(ctx, 0, sizeof(*ctx));
world->rbe = &ctx->pub;
r_meshpitch.value = pCvar_GetFloat("r_meshpitch");
VectorAvg(world->worldmodel->mins, world->worldmodel->maxs, center);
VectorSubtract(world->worldmodel->maxs, center, extents);
ctx->dworld = dWorldCreate();
ctx->space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, pCvar_GetFloat("physics_ode_quadtree_depth"), 10));
ctx->contactgroup = dJointGroupCreate(0);
ctx->pub.End = World_ODE_End;
ctx->pub.RemoveJointFromEntity = World_ODE_RemoveJointFromEntity;
ctx->pub.RemoveFromEntity = World_ODE_RemoveFromEntity;
ctx->pub.RagMatrixToBody = World_ODE_RagMatrixToBody;
ctx->pub.RagCreateBody = World_ODE_RagCreateBody;
ctx->pub.RagMatrixFromJoint = World_ODE_RagMatrixFromJoint;
ctx->pub.RagMatrixFromBody = World_ODE_RagMatrixFromBody;
ctx->pub.RagEnableJoint = World_ODE_RagEnableJoint;
ctx->pub.RagCreateJoint = World_ODE_RagCreateJoint;
ctx->pub.RagDestroyBody = World_ODE_RagDestroyBody;
ctx->pub.RagDestroyJoint = World_ODE_RagDestroyJoint;
ctx->pub.RunFrame = World_ODE_Frame;
ctx->pub.PushCommand = World_ODE_PushCommand;
if(physics_ode_world_erp->value >= 0)
dWorldSetERP(ctx->dworld, physics_ode_world_erp->value);
if(physics_ode_world_cfm->value >= 0)
dWorldSetCFM(ctx->dworld, physics_ode_world_cfm->value);
if (physics_ode_world_damping->value)
{
dWorldSetLinearDamping(ctx->dworld, (physics_ode_world_damping_linear->value >= 0) ? (physics_ode_world_damping_linear->value * physics_ode_world_damping->value) : 0);
dWorldSetLinearDampingThreshold(ctx->dworld, (physics_ode_world_damping_linear_threshold->value >= 0) ? (physics_ode_world_damping_linear_threshold->value * physics_ode_world_damping->value) : 0);
dWorldSetAngularDamping(ctx->dworld, (physics_ode_world_damping_angular->value >= 0) ? (physics_ode_world_damping_angular->value * physics_ode_world_damping->value) : 0);
dWorldSetAngularDampingThreshold(ctx->dworld, (physics_ode_world_damping_angular_threshold->value >= 0) ? (physics_ode_world_damping_angular_threshold->value * physics_ode_world_damping->value) : 0);
}
else
{
dWorldSetLinearDamping(ctx->dworld, 0);
dWorldSetLinearDampingThreshold(ctx->dworld, 0);
dWorldSetAngularDamping(ctx->dworld, 0);
dWorldSetAngularDampingThreshold(ctx->dworld, 0);
}
if (physics_ode_autodisable->ival)
{
dWorldSetAutoDisableSteps(ctx->dworld, bound(1, physics_ode_autodisable_steps->ival, 100));
dWorldSetAutoDisableTime(ctx->dworld, physics_ode_autodisable_time->value);
dWorldSetAutoDisableAverageSamplesCount(ctx->dworld, bound(1, physics_ode_autodisable_threshold_samples->ival, 100));
dWorldSetAutoDisableLinearThreshold(ctx->dworld, physics_ode_autodisable_threshold_linear->value);
dWorldSetAutoDisableAngularThreshold(ctx->dworld, physics_ode_autodisable_threshold_angular->value);
dWorldSetAutoDisableFlag (ctx->dworld, true);
}
else
dWorldSetAutoDisableFlag (ctx->dworld, false);
}
static void World_ODE_RunCmd(world_t *world, rbecommandqueue_t *cmd)
{
switch(cmd->command)
{
case RBECMD_ENABLE:
if (cmd->edict->rbe.body.body)
dBodyEnable(cmd->edict->rbe.body.body);
break;
case RBECMD_DISABLE:
if (cmd->edict->rbe.body.body)
dBodyDisable(cmd->edict->rbe.body.body);
break;
case RBECMD_FORCE:
if (cmd->edict->rbe.body.body)
{
dBodyEnable(cmd->edict->rbe.body.body);
dBodyAddForceAtPos(cmd->edict->rbe.body.body, cmd->v1[0], cmd->v1[1], cmd->v1[2], cmd->v2[0], cmd->v2[1], cmd->v2[2]);
}
break;
case RBECMD_TORQUE:
if (cmd->edict->rbe.body.body)
{
dBodyEnable(cmd->edict->rbe.body.body);
dBodyAddTorque(cmd->edict->rbe.body.body, cmd->v1[0], cmd->v1[1], cmd->v1[2]);
}
break;
}
}
static qintptr_t QDECL Plug_ODE_Shutdown(qintptr_t *args)
{
if (rbefuncs)
rbefuncs->UnregisterPhysicsEngine("ODE");
World_ODE_Shutdown();
return 0;
}
qintptr_t Plug_Init(qintptr_t *args)
{
CHECKBUILTIN(RBE_GetPluginFuncs);
#ifndef ODE_STATIC
CHECKBUILTIN(Sys_LoadLibrary);
CHECKBUILTIN(Sys_CloseLibrary);
#endif
if (BUILTINISVALID(RBE_GetPluginFuncs))
{
rbefuncs = pRBE_GetPluginFuncs(sizeof(rbeplugfuncs_t));
if (rbefuncs && rbefuncs->version < RBEPLUGFUNCS_VERSION)
rbefuncs = NULL;
}
if (!rbefuncs)
{
Con_Printf("ODE plugin failed: Engine does not support external rigid body engines.\n");
return false;
}
if (!BUILTINISVALID(Cvar_GetNVFDG))
{
Con_Printf("ODE plugin failed: Engine too old.\n");
return false;
}
#ifndef ODE_STATIC
if (!BUILTINISVALID(Sys_LoadLibrary) || !BUILTINISVALID(Sys_CloseLibrary))
{
Con_Printf("ODE plugin failed: Engine too old.\n");
return false;
}
#endif
if (!rbefuncs || !rbefuncs->RegisterPhysicsEngine)
Con_Printf("ODE plugin failed: Engine doesn't support physics engine plugins.\n");
else if (!rbefuncs->RegisterPhysicsEngine("ODE", World_ODE_Start))
Con_Printf("ODE plugin failed: Engine already has a physics plugin active.\n");
else
{
if (!World_ODE_Init())
{
Con_Printf("ODE plugin failed: ODE library missing.\n");
rbefuncs->UnregisterPhysicsEngine("ODE");
return false;
}
Plug_Export("Shutdown", Plug_ODE_Shutdown);
return true;
}
return false;
}
#endif
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