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fteqw/engine/common/com_phys_ode.c
Spoike 25b5732ec7 Gnnrgh 
git-svn-id: https://svn.code.sf.net/p/fteqw/code/branches/wip@3441 fc73d0e0-1445-4013-8a0c-d673dee63da5
2009-11-13 01:37:00 +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.
*/
#include "quakedef.h"
#include "pr_common.h"
#include "glquake.h"
#ifdef USEODE
#pragma message("fixme: pitch values are probably inverted")
//============================================================================
// physics engine support
//============================================================================
//#ifndef ODE_STATIC
//#define ODE_DYNAMIC 1
//#endif
cvar_t physics_ode_quadtree_depth = CVARDP4(0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space");
cvar_t physics_ode_contactsurfacelayer = CVARDP4(0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter");
cvar_t physics_ode_worldquickstep = CVARDP4(0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStep");
cvar_t physics_ode_worldquickstep_iterations = CVARDP4(0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep");
//physics_ode_worldstepfast dWorldStepFast1 is not present in more recent versions of ODE. thus we don't use it ever.
cvar_t physics_ode_contact_mu = CVARDP4(0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)");
cvar_t physics_ode_contact_erp = CVARDP4(0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)");
cvar_t physics_ode_contact_cfm = CVARDP4(0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)");
cvar_t physics_ode_world_erp = CVARDP4(0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1");
cvar_t physics_ode_world_cfm = CVARDP4(0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1");
cvar_t physics_ode_iterationsperframe = CVARDP4(0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame");
cvar_t physics_ode_movelimit = CVARDP4(0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls");
cvar_t physics_ode_spinlimit = CVARDP4(0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large");
// LordHavoc: this large chunk of definitions comes from the ODE library
// include files.
#ifdef ODE_STATIC
#include "ode/ode.h"
#else
#ifdef WINAPI
// ODE does not use WINAPI
#define ODE_API VARGS /*vargs because fte likes to be compiled fastcall (vargs is defined as cdecl...)*/
#else
#define ODE_API VARGS
#endif
#define DEG2RAD(d) (d * M_PI * (1/180.0f))
#define RAD2DEG(d) ((d*180) / M_PI)
// note: dynamic builds of ODE tend to be double precision, this is not used
// for static builds
typedef double dReal;
typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];
struct dxWorld; /* dynamics world */
struct dxSpace; /* collision space */
struct dxBody; /* rigid body (dynamics object) */
struct dxGeom; /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;
struct dxTriMeshData;
#define dInfinity 3.402823466e+38f
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
typedef struct dxTriMeshData *dTriMeshDataID;
typedef struct dJointFeedback
{
dVector3 f1; /* force applied to body 1 */
dVector3 t1; /* torque applied to body 1 */
dVector3 f2; /* force applied to body 2 */
dVector3 t2; /* torque applied to body 2 */
}
dJointFeedback;
typedef enum dJointType
{
dJointTypeNone = 0,
dJointTypeBall,
dJointTypeHinge,
dJointTypeSlider,
dJointTypeContact,
dJointTypeUniversal,
dJointTypeHinge2,
dJointTypeFixed,
dJointTypeNull,
dJointTypeAMotor,
dJointTypeLMotor,
dJointTypePlane2D,
dJointTypePR,
dJointTypePU,
dJointTypePiston
}
dJointType;
#define D_ALL_PARAM_NAMES(start) \
/* parameters for limits and motors */ \
dParamLoStop = start, \
dParamHiStop, \
dParamVel, \
dParamFMax, \
dParamFudgeFactor, \
dParamBounce, \
dParamCFM, \
dParamStopERP, \
dParamStopCFM, \
/* parameters for suspension */ \
dParamSuspensionERP, \
dParamSuspensionCFM, \
dParamERP, \
#define D_ALL_PARAM_NAMES_X(start,x) \
/* parameters for limits and motors */ \
dParamLoStop ## x = start, \
dParamHiStop ## x, \
dParamVel ## x, \
dParamFMax ## x, \
dParamFudgeFactor ## x, \
dParamBounce ## x, \
dParamCFM ## x, \
dParamStopERP ## x, \
dParamStopCFM ## x, \
/* parameters for suspension */ \
dParamSuspensionERP ## x, \
dParamSuspensionCFM ## x, \
dParamERP ## x,
enum {
D_ALL_PARAM_NAMES(0)
D_ALL_PARAM_NAMES_X(0x100,2)
D_ALL_PARAM_NAMES_X(0x200,3)
/* add a multiple of this constant to the basic parameter numbers to get
* the parameters for the second, third etc axes.
*/
dParamGroup=0x100
};
typedef struct dMass
{
dReal mass;
dVector3 c;
dMatrix3 I;
}
dMass;
enum
{
dContactMu2 = 0x001,
dContactFDir1 = 0x002,
dContactBounce = 0x004,
dContactSoftERP = 0x008,
dContactSoftCFM = 0x010,
dContactMotion1 = 0x020,
dContactMotion2 = 0x040,
dContactMotionN = 0x080,
dContactSlip1 = 0x100,
dContactSlip2 = 0x200,
dContactApprox0 = 0x0000,
dContactApprox1_1 = 0x1000,
dContactApprox1_2 = 0x2000,
dContactApprox1 = 0x3000
};
typedef struct dSurfaceParameters
{
/* must always be defined */
int mode;
dReal mu;
/* only defined if the corresponding flag is set in mode */
dReal mu2;
dReal bounce;
dReal bounce_vel;
dReal soft_erp;
dReal soft_cfm;
dReal motion1,motion2,motionN;
dReal slip1,slip2;
} dSurfaceParameters;
typedef struct dContactGeom
{
dVector3 pos; ///< contact position
dVector3 normal; ///< normal vector
dReal depth; ///< penetration depth
dGeomID g1,g2; ///< the colliding geoms
int side1,side2; ///< (to be documented)
}
dContactGeom;
typedef struct dContact
{
dSurfaceParameters surface;
dContactGeom geom;
dVector3 fdir1;
}
dContact;
typedef void VARGS dNearCallback (void *data, dGeomID o1, dGeomID o2);
// SAP
// Order XZY or ZXY usually works best, if your Y is up.
#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
//const char* (ODE_API *dGetConfiguration)(void);
int (ODE_API *dCheckConfiguration)( const char* token );
int (ODE_API *dInitODE)(void);
//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
//void (ODE_API *dCleanupODEAllDataForThread)(void);
void (ODE_API *dCloseODE)(void);
//int (ODE_API *dMassCheck)(const dMass *m);
//void (ODE_API *dMassSetZero)(dMass *);
//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
//void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
//
dWorldID (ODE_API *dWorldCreate)(void);
void (ODE_API *dWorldDestroy)(dWorldID world);
void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
//dReal (ODE_API *dWorldGetERP)(dWorldID);
void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
//dReal (ODE_API *dWorldGetCFM)(dWorldID);
void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
//void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
//void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
//void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
//void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
//void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
dBodyID (ODE_API *dBodyCreate)(dWorldID);
void (ODE_API *dBodyDestroy)(dBodyID);
void (ODE_API *dBodySetData)(dBodyID, void *data);
void * (ODE_API *dBodyGetData)(dBodyID);
void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
//void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
int (ODE_API *dBodyGetNumJoints)(dBodyID b);
dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
//void (ODE_API *dBodySetDynamic)(dBodyID);
//void (ODE_API *dBodySetKinematic)(dBodyID);
//int (ODE_API *dBodyIsKinematic)(dBodyID);
//void (ODE_API *dBodyEnable)(dBodyID);
//void (ODE_API *dBodyDisable)(dBodyID);
//int (ODE_API *dBodyIsEnabled)(dBodyID);
void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
int (ODE_API *dBodyGetGravityMode)(dBodyID b);
//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
void (ODE_API *dJointDestroy)(dJointID);
dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
void (ODE_API *dJointGroupDestroy)(dJointGroupID);
void (ODE_API *dJointGroupEmpty)(dJointGroupID);
//int (ODE_API *dJointGetNumBodies)(dJointID);
void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
//void (ODE_API *dJointEnable)(dJointID);
//void (ODE_API *dJointDisable)(dJointID);
//int (ODE_API *dJointIsEnabled)(dJointID);
void (ODE_API *dJointSetData)(dJointID, void *data);
void * (ODE_API *dJointGetData)(dJointID);
//dJointType (ODE_API *dJointGetType)(dJointID);
dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
//void (ODE_API *dJointSetFixed)(dJointID);
//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPRPosition)(dJointID);
//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
//dReal (ODE_API *dJointGetPRAngle)(dJointID);
//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPUPosition)(dJointID);
//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
//int (ODE_API *dJointGetAMotorMode)(dJointID);
//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
int (ODE_API *dAreConnected)(dBodyID, dBodyID);
int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
//
dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
void (ODE_API *dSpaceDestroy)(dSpaceID);
//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
//void (ODE_API *dSpaceClean)(dSpaceID);
//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
//int (ODE_API *dSpaceGetClass)(dSpaceID space);
//
void (ODE_API *dGeomDestroy)(dGeomID geom);
void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
void * (ODE_API *dGeomGetData)(dGeomID geom);
void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
int (ODE_API *dGeomIsSpace)(dGeomID geom);
//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
//int (ODE_API *dGeomGetClass)(dGeomID geom);
//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
//void (ODE_API *dGeomEnable)(dGeomID geom);
//void (ODE_API *dGeomDisable)(dGeomID geom);
//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
//void (ODE_API *dGeomClearOffset)(dGeomID geom);
//int (ODE_API *dGeomIsOffset)(dGeomID geom);
//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
//
void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
//
dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
//
//dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//
dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//
//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
//
dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
//
//dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
//
//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
//
dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
enum { TRIMESH_FACE_NORMALS };
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
static dllfunction_t odefuncs[] =
{
// {"dGetConfiguration", (void **) &dGetConfiguration},
{(void **) &dCheckConfiguration, "dCheckConfiguration"},
{(void **) &dInitODE, "dInitODE"},
// {"dInitODE2", (void **) &dInitODE2},
// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
{(void **) &dCloseODE, "dCloseODE"},
// {"dMassCheck", (void **) &dMassCheck},
// {"dMassSetZero", (void **) &dMassSetZero},
// {"dMassSetParameters", (void **) &dMassSetParameters},
// {"dMassSetSphere", (void **) &dMassSetSphere},
{(void **) &dMassSetSphereTotal, "dMassSetSphereTotal"},
// {"dMassSetCapsule", (void **) &dMassSetCapsule},
{(void **) &dMassSetCapsuleTotal, "dMassSetCapsuleTotal"},
// {"dMassSetCylinder", (void **) &dMassSetCylinder},
// {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
// {"dMassSetBox", (void **) &dMassSetBox},
{(void **) &dMassSetBoxTotal, "dMassSetBoxTotal"},
// {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
// {"dMassAdjust", (void **) &dMassAdjust},
// {"dMassTranslate", (void **) &dMassTranslate},
// {"dMassRotate", (void **) &dMassRotate},
// {"dMassAdd", (void **) &dMassAdd},
{(void **) &dWorldCreate, "dWorldCreate"},
{(void **) &dWorldDestroy, "dWorldDestroy"},
{(void **) &dWorldSetGravity, "dWorldSetGravity"},
{(void **) &dWorldGetGravity, "dWorldGetGravity"},
{(void **) &dWorldSetERP, "dWorldSetERP"},
// {"dWorldGetERP", (void **) &dWorldGetERP},
{(void **) &dWorldSetCFM, "dWorldSetCFM"},
// {"dWorldGetCFM", (void **) &dWorldGetCFM},
{(void **) &dWorldStep, "dWorldStep"},
// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
{(void **) &dWorldQuickStep, "dWorldQuickStep"},
{(void **) &dWorldSetQuickStepNumIterations, "dWorldSetQuickStepNumIterations"},
// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
{(void **) &dWorldSetContactSurfaceLayer, "dWorldSetContactSurfaceLayer"},
// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
// {(void **) &dWorldStepFast1, "dWorldStepFast1"},
// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
// {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
// {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
// {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
// {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
// {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
// {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
// {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
// {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
// {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
// {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
// {"dWorldSetDamping", (void **) &dWorldSetDamping},
// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
// {"dBodyGetWorld", (void **) &dBodyGetWorld},
{(void **) &dBodyCreate, "dBodyCreate"},
{(void **) &dBodyDestroy, "dBodyDestroy"},
{(void **) &dBodySetData, "dBodySetData"},
{(void **) &dBodyGetData, "dBodyGetData"},
{(void **) &dBodySetPosition, "dBodySetPosition"},
{(void **) &dBodySetRotation, "dBodySetRotation"},
// {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
{(void **) &dBodySetLinearVel, "dBodySetLinearVel"},
{(void **) &dBodySetAngularVel, "dBodySetAngularVel"},
{(void **) &dBodyGetPosition, "dBodyGetPosition"},
// {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
{(void **) &dBodyGetRotation, "dBodyGetRotation"},
// {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
{(void **) &dBodyGetLinearVel, "dBodyGetLinearVel"},
{(void **) &dBodyGetAngularVel, "dBodyGetAngularVel"},
{(void **) &dBodySetMass, "dBodySetMass"},
// {"dBodyGetMass", (void **) &dBodyGetMass},
// {"dBodyAddForce", (void **) &dBodyAddForce},
// {"dBodyAddTorque", (void **) &dBodyAddTorque},
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
// {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
// {"dBodyGetForce", (void **) &dBodyGetForce},
// {"dBodyGetTorque", (void **) &dBodyGetTorque},
// {"dBodySetForce", (void **) &dBodySetForce},
// {"dBodySetTorque", (void **) &dBodySetTorque},
// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
// {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
{(void **) &dBodyGetNumJoints, "dBodyGetNumJoints"},
{(void **) &dBodyGetJoint, "dBodyGetJoint"},
// {"dBodySetDynamic", (void **) &dBodySetDynamic},
// {"dBodySetKinematic", (void **) &dBodySetKinematic},
// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
// {"dBodyEnable", (void **) &dBodyEnable},
// {"dBodyDisable", (void **) &dBodyDisable},
// {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
{(void **) &dBodySetGravityMode, "dBodySetGravityMode"},
{(void **) &dBodyGetGravityMode, "dBodyGetGravityMode"},
// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
// {"dBodySetDamping", (void **) &dBodySetDamping},
// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
{(void **) &dJointCreateBall, "dJointCreateBall"},
{(void **) &dJointCreateHinge, "dJointCreateHinge"},
{(void **) &dJointCreateSlider, "dJointCreateSlider"},
{(void **) &dJointCreateContact, "dJointCreateContact"},
{(void **) &dJointCreateHinge2, "dJointCreateHinge2"},
{(void **) &dJointCreateUniversal, "dJointCreateUniversal"},
// {"dJointCreatePR", (void **) &dJointCreatePR},
// {"dJointCreatePU", (void **) &dJointCreatePU},
// {"dJointCreatePiston", (void **) &dJointCreatePiston},
{(void **) &dJointCreateFixed, "dJointCreateFixed"},
// {"dJointCreateNull", (void **) &dJointCreateNull},
// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
{(void **) &dJointDestroy, "dJointDestroy"},
{(void **) &dJointGroupCreate, "dJointGroupCreate"},
{(void **) &dJointGroupDestroy, "dJointGroupDestroy"},
{(void **) &dJointGroupEmpty, "dJointGroupEmpty"},
// {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
{(void **) &dJointAttach, "dJointAttach"},
// {"dJointEnable", (void **) &dJointEnable},
// {"dJointDisable", (void **) &dJointDisable},
// {"dJointIsEnabled", (void **) &dJointIsEnabled},
{(void **) &dJointSetData, "dJointSetData"},
{(void **) &dJointGetData, "dJointGetData"},
// {"dJointGetType", (void **) &dJointGetType},
{(void **) &dJointGetBody, "dJointGetBody"},
// {"dJointSetFeedback", (void **) &dJointSetFeedback},
// {"dJointGetFeedback", (void **) &dJointGetFeedback},
{(void **) &dJointSetBallAnchor, "dJointSetBallAnchor"},
// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
{(void **) &dJointSetBallParam, "dJointSetBallParam"},
{(void **) &dJointSetHingeAnchor, "dJointSetHingeAnchor"},
// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
{(void **) &dJointSetHingeAxis, "dJointSetHingeAxis"},
// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
{(void **) &dJointSetHingeParam, "dJointSetHingeParam"},
// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
{(void **) &dJointSetSliderAxis, "dJointSetSliderAxis"},
// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
{(void **) &dJointSetSliderParam, "dJointSetSliderParam"},
// {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
{(void **) &dJointSetHinge2Anchor, "dJointSetHinge2Anchor"},
{(void **) &dJointSetHinge2Axis1, "dJointSetHinge2Axis1"},
{(void **) &dJointSetHinge2Axis2, "dJointSetHinge2Axis2"},
{(void **) &dJointSetHinge2Param, "dJointSetHinge2Param"},
// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
{(void **) &dJointSetUniversalAnchor, "dJointSetUniversalAnchor"},
{(void **) &dJointSetUniversalAxis1, "dJointSetUniversalAxis1"},
// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
{(void **) &dJointSetUniversalAxis2, "dJointSetUniversalAxis2"},
// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
{(void **) &dJointSetUniversalParam, "dJointSetUniversalParam"},
// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
// {"dJointSetPRParam", (void **) &dJointSetPRParam},
// {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
// {"dJointSetPUParam", (void **) &dJointSetPUParam},
// {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
// {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
// {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
// {"dJointSetFixed", (void **) &dJointSetFixed},
// {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
// {"dJointGetBallParam", (void **) &dJointGetBallParam},
// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
// {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
// {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
// {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
// {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
// {"dJointGetPRParam", (void **) &dJointGetPRParam},
// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
// {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
// {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
// {"dJointGetPUParam", (void **) &dJointGetPUParam},
// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
// {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
// {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
// {"dConnectingJoint", (void **) &dConnectingJoint},
// {"dConnectingJointList", (void **) &dConnectingJointList},
{(void **) &dAreConnected, "dAreConnected"},
{(void **) &dAreConnectedExcluding, "dAreConnectedExcluding"},
{(void **) &dSimpleSpaceCreate, "dSimpleSpaceCreate"},
{(void **) &dHashSpaceCreate, "dHashSpaceCreate"},
{(void **) &dQuadTreeSpaceCreate, "dQuadTreeSpaceCreate"},
// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
{(void **) &dSpaceDestroy, "dSpaceDestroy"},
// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
// {"dSpaceAdd", (void **) &dSpaceAdd},
// {"dSpaceRemove", (void **) &dSpaceRemove},
// {"dSpaceQuery", (void **) &dSpaceQuery},
// {"dSpaceClean", (void **) &dSpaceClean},
// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
// {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
// {"dSpaceGetClass", (void **) &dSpaceGetClass},
{(void **) &dGeomDestroy, "dGeomDestroy"},
{(void **) &dGeomSetData, "dGeomSetData"},
{(void **) &dGeomGetData, "dGeomGetData"},
{(void **) &dGeomSetBody, "dGeomSetBody"},
{(void **) &dGeomGetBody, "dGeomGetBody"},
{(void **) &dGeomSetPosition, "dGeomSetPosition"},
{(void **) &dGeomSetRotation, "dGeomSetRotation"},
// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
// {"dGeomGetPosition", (void **) &dGeomGetPosition},
// {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
// {"dGeomGetRotation", (void **) &dGeomGetRotation},
// {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
// {"dGeomGetAABB", (void **) &dGeomGetAABB},
{(void **) &dGeomIsSpace, "dGeomIsSpace"},
// {"dGeomGetSpace", (void **) &dGeomGetSpace},
// {"dGeomGetClass", (void **) &dGeomGetClass},
// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
// {"dGeomEnable", (void **) &dGeomEnable},
// {"dGeomDisable", (void **) &dGeomDisable},
// {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
// {"dGeomClearOffset", (void **) &dGeomClearOffset},
// {"dGeomIsOffset", (void **) &dGeomIsOffset},
// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
{(void **) &dCollide, "dCollide"},
{(void **) &dSpaceCollide, "dSpaceCollide"},
{(void **) &dSpaceCollide2, "dSpaceCollide2"},
{(void **) &dCreateSphere, "dCreateSphere"},
// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
// {"dCreateConvex", (void **) &dCreateConvex},
// {"dGeomSetConvex", (void **) &dGeomSetConvex},
{(void **) &dCreateBox, "dCreateBox"},
// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
// {"dCreatePlane", (void **) &dCreatePlane},
// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
{(void **) &dCreateCapsule, "dCreateCapsule"},
// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
// {"dCreateCylinder", (void **) &dCreateCylinder},
// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
// {"dCreateRay", (void **) &dCreateRay},
// {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
// {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
// {"dGeomRaySet", (void **) &dGeomRaySet},
// {"dGeomRayGet", (void **) &dGeomRayGet},
{(void **) &dCreateGeomTransform, "dCreateGeomTransform"},
{(void **) &dGeomTransformSetGeom, "dGeomTransformSetGeom"},
// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
{(void **) &dGeomTransformSetCleanup, "dGeomTransformSetCleanup"},
// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
{(void **) &dGeomTriMeshDataCreate, "dGeomTriMeshDataCreate"},
{(void **) &dGeomTriMeshDataDestroy, "dGeomTriMeshDataDestroy"},
// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
{(void **) &dGeomTriMeshDataBuildSingle, "dGeomTriMeshDataBuildSingle"},
// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
{(void **) &dCreateTriMesh, "dCreateTriMesh"},
// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
{NULL, NULL}
};
// Handle for ODE DLL
dllhandle_t ode_dll = NULL;
#endif
void World_Physics_Init(void)
{
#ifdef ODE_DYNAMIC
const char* dllname =
{
# if defined(WIN64)
"libode1_64.dll"
# elif defined(WIN32)
"libode1.dll"
# elif defined(MACOSX)
"libode.1.dylib"
# else
"libode.so.1"
# endif
};
#endif
Cvar_Register(&physics_ode_quadtree_depth, "ODE Physics Library");
Cvar_Register(&physics_ode_contactsurfacelayer, "ODE Physics Library");
Cvar_Register(&physics_ode_worldquickstep, "ODE Physics Library");
Cvar_Register(&physics_ode_worldquickstep_iterations, "ODE Physics Library");
Cvar_Register(&physics_ode_contact_mu, "ODE Physics Library");
Cvar_Register(&physics_ode_contact_erp, "ODE Physics Library");
Cvar_Register(&physics_ode_contact_cfm, "ODE Physics Library");
Cvar_Register(&physics_ode_world_erp, "ODE Physics Library");
Cvar_Register(&physics_ode_world_cfm, "ODE Physics Library");
Cvar_Register(&physics_ode_iterationsperframe, "ODE Physics Library");
Cvar_Register(&physics_ode_movelimit, "ODE Physics Library");
Cvar_Register(&physics_ode_spinlimit, "ODE Physics Library");
#ifdef ODE_DYNAMIC
// Load the DLL
ode_dll = Sys_LoadLibrary(dllname, odefuncs);
if (ode_dll)
#endif
{
dInitODE();
// dInitODE2(0);
#ifdef ODE_DYNAMIC
# ifdef dSINGLE
if (!dCheckConfiguration("ODE_single_precision"))
# else
if (!dCheckConfiguration("ODE_double_precision"))
# endif
{
# ifdef dSINGLE
Con_Printf("ode library not compiled for single precision - incompatible! Not using ODE physics.\n");
# else
Con_Printf("ode library not compiled for double precision - incompatible! Not using ODE physics.\n");
# endif
Sys_CloseLibrary(ode_dll);
ode_dll = NULL;
}
#endif
}
}
void World_Physics_Shutdown(void)
{
#ifdef ODE_DYNAMIC
if (ode_dll)
#endif
{
dCloseODE();
#ifdef ODE_DYNAMIC
Sys_CloseLibrary(&ode_dll);
ode_dll = NULL;
#endif
}
}
static void World_Physics_EnableODE(world_t *world)
{
dVector3 center, extents;
if (world->ode.ode)
return;
#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
world->ode.ode = true;
VectorAvg(world->worldmodel->mins, world->worldmodel->maxs, center);
VectorSubtract(world->worldmodel->maxs, center, extents);
world->ode.ode_world = dWorldCreate();
world->ode.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.ival, 10));
world->ode.ode_contactgroup = dJointGroupCreate(0);
if(physics_ode_world_erp.value >= 0)
dWorldSetERP(world->ode.ode_world, physics_ode_world_erp.value);
if(physics_ode_world_cfm.value >= 0)
dWorldSetCFM(world->ode.ode_world, physics_ode_world_cfm.value);
}
void World_Physics_Start(world_t *world)
{
if (world->ode.ode)
return;
World_Physics_EnableODE(world);
}
void World_Physics_End(world_t *world)
{
if (world->ode.ode)
{
dWorldDestroy(world->ode.ode_world);
dSpaceDestroy(world->ode.ode_space);
dJointGroupDestroy(world->ode.ode_contactgroup);
world->ode.ode = false;
}
}
void World_Physics_RemoveJointFromEntity(world_t *world, wedict_t *ed)
{
ed->ode.ode_joint_type = 0;
if(ed->ode.ode_joint)
dJointDestroy((dJointID)ed->ode.ode_joint);
ed->ode.ode_joint = NULL;
}
void World_Physics_RemoveFromEntity(world_t *world, wedict_t *ed)
{
if (!ed->ode.ode_physics)
return;
// entity is not physics controlled, free any physics data
ed->ode.ode_physics = false;
if (ed->ode.ode_geom)
dGeomDestroy((dGeomID)ed->ode.ode_geom);
ed->ode.ode_geom = NULL;
if (ed->ode.ode_body)
{
dJointID j;
dBodyID b1, b2;
wedict_t *ed2;
while(dBodyGetNumJoints((dBodyID)ed->ode.ode_body))
{
j = dBodyGetJoint((dBodyID)ed->ode.ode_body, 0);
ed2 = (wedict_t *) dJointGetData(j);
b1 = dJointGetBody(j, 0);
b2 = dJointGetBody(j, 1);
if(b1 == (dBodyID)ed->ode.ode_body)
{
b1 = 0;
ed2->ode.ode_joint_enemy = 0;
}
if(b2 == (dBodyID)ed->ode.ode_body)
{
b2 = 0;
ed2->ode.ode_joint_aiment = 0;
}
dJointAttach(j, b1, b2);
}
dBodyDestroy((dBodyID)ed->ode.ode_body);
}
ed->ode.ode_body = NULL;
if (ed->ode.ode_vertex3f)
BZ_Free(ed->ode.ode_vertex3f);
ed->ode.ode_vertex3f = NULL;
ed->ode.ode_numvertices = 0;
if (ed->ode.ode_element3i)
BZ_Free(ed->ode.ode_element3i);
ed->ode.ode_element3i = NULL;
ed->ode.ode_numtriangles = 0;
if(ed->ode.ode_massbuf)
BZ_Free(ed->ode.ode_massbuf);
ed->ode.ode_massbuf = NULL;
}
static void World_Physics_Frame_BodyToEntity(world_t *world, wedict_t *ed)
{
model_t *model;
const dReal *avel;
const dReal *o;
const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
const dReal *vel;
dBodyID body = (dBodyID)ed->ode.ode_body;
int movetype;
float bodymatrix[16];
float entitymatrix[16];
vec3_t angles;
vec3_t avelocity;
vec3_t forward, left, up;
vec3_t origin;
vec3_t spinvelocity;
vec3_t velocity;
if (!body)
return;
movetype = (int)ed->v->movetype;
if (movetype != MOVETYPE_PHYSICS)
{
switch((int)ed->xv->jointtype)
{
// TODO feed back data from physics
case JOINTTYPE_POINT:
break;
case JOINTTYPE_HINGE:
break;
case JOINTTYPE_SLIDER:
break;
case JOINTTYPE_UNIVERSAL:
break;
case JOINTTYPE_HINGE2:
break;
case JOINTTYPE_FIXED:
break;
}
return;
}
// store the physics engine data into the entity
o = dBodyGetPosition(body);
r = dBodyGetRotation(body);
vel = dBodyGetLinearVel(body);
avel = dBodyGetAngularVel(body);
VectorCopy(o, origin);
forward[0] = r[0];
forward[1] = r[4];
forward[2] = r[8];
left[0] = r[1];
left[1] = r[5];
left[2] = r[9];
up[0] = r[2];
up[1] = r[6];
up[2] = r[10];
VectorCopy(vel, velocity);
VectorCopy(avel, spinvelocity);
Matrix4Q_FromVectors(bodymatrix, forward, left, up, origin);
Matrix4_Multiply(ed->ode.ode_offsetimatrix, bodymatrix, entitymatrix);
Matrix4Q_ToVectors(entitymatrix, forward, left, up, origin);
VectorAngles(forward, up, angles);
angles[0]*=-1;
avelocity[PITCH] = RAD2DEG(spinvelocity[PITCH]);
avelocity[YAW] = RAD2DEG(spinvelocity[ROLL]);
avelocity[ROLL] = RAD2DEG(spinvelocity[YAW]);
if (ed->v->modelindex)
{
model = world->GetCModel(world, ed->v->modelindex);
if (!model || model->type == mod_alias)
{
angles[PITCH] *= -1;
avelocity[PITCH] *= -1;
}
}
VectorCopy(origin, ed->v->origin);
VectorCopy(velocity, ed->v->velocity);
//vVectorCopy(forward, ed->xv->axis_forward);
//VectorCopy(left, ed->xv->axis_left);
//VectorCopy(up, ed->xv->axis_up);
//VectorCopy(spinvelocity, ed->xv->spinvelocity);
VectorCopy(angles, ed->v->angles);
VectorCopy(avelocity, ed->v->avelocity);
// values for BodyFromEntity to check if the qc modified anything later
VectorCopy(origin, ed->ode.ode_origin);
VectorCopy(velocity, ed->ode.ode_velocity);
VectorCopy(angles, ed->ode.ode_angles);
VectorCopy(avelocity, ed->ode.ode_avelocity);
ed->ode.ode_gravity = dBodyGetGravityMode(body);
World_LinkEdict(world, ed, true);
}
static void World_Physics_Frame_JointFromEntity(world_t *world, wedict_t *ed)
{
dJointID j = 0;
dBodyID b1 = 0;
dBodyID b2 = 0;
int movetype = 0;
int jointtype = 0;
int enemy = 0, aiment = 0;
wedict_t *o;
vec3_t origin, velocity, angles, forward, left, up, movedir;
vec_t CFM, ERP, FMax, Stop, Vel;
VectorClear(origin);
VectorClear(velocity);
VectorClear(angles);
VectorClear(movedir);
movetype = (int)ed->v->movetype;
jointtype = (int)ed->xv->jointtype;
enemy = ed->v->enemy;
aiment = ed->v->aiment;
VectorCopy(ed->v->origin, origin);
VectorCopy(ed->v->velocity, velocity);
VectorCopy(ed->v->angles, angles);
VectorCopy(ed->v->movedir, movedir);
if(movetype == MOVETYPE_PHYSICS)
jointtype = 0; // can't have both
o = (wedict_t*)PROG_TO_EDICT(world->progs, enemy);
if(o->isfree || o->ode.ode_body == 0)
enemy = 0;
o = (wedict_t*)PROG_TO_EDICT(world->progs, aiment);
if(o->isfree || o->ode.ode_body == 0)
aiment = 0;
// see http://www.ode.org/old_list_archives/2006-January/017614.html
// we want to set ERP? make it fps independent and work like a spring constant
// note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
if(movedir[0] > 0 && movedir[1] > 0)
{
float K = movedir[0];
float D = movedir[1];
float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
CFM = 1.0 / (world->ode.ode_step * K + R); // always > 0
ERP = world->ode.ode_step * K * CFM;
Vel = 0;
FMax = 0;
Stop = movedir[2];
}
else if(movedir[1] < 0)
{
CFM = 0;
ERP = 0;
Vel = movedir[0];
FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
}
else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
{
CFM = 0;
ERP = 0;
Vel = 0;
FMax = 0;
Stop = dInfinity;
}
if(jointtype == ed->ode.ode_joint_type && VectorCompare(origin, ed->ode.ode_joint_origin) && VectorCompare(velocity, ed->ode.ode_joint_velocity) && VectorCompare(angles, ed->ode.ode_joint_angles) && enemy == ed->ode.ode_joint_enemy && aiment == ed->ode.ode_joint_aiment && VectorCompare(movedir, ed->ode.ode_joint_movedir))
return; // nothing to do
AngleVectorsFLU(angles, forward, left, up);
switch(jointtype)
{
case JOINTTYPE_POINT:
j = dJointCreateBall(world->ode.ode_world, 0);
break;
case JOINTTYPE_HINGE:
j = dJointCreateHinge(world->ode.ode_world, 0);
break;
case JOINTTYPE_SLIDER:
j = dJointCreateSlider(world->ode.ode_world, 0);
break;
case JOINTTYPE_UNIVERSAL:
j = dJointCreateUniversal(world->ode.ode_world, 0);
break;
case JOINTTYPE_HINGE2:
j = dJointCreateHinge2(world->ode.ode_world, 0);
break;
case JOINTTYPE_FIXED:
j = dJointCreateFixed(world->ode.ode_world, 0);
break;
case 0:
default:
// no joint
j = 0;
break;
}
if(ed->ode.ode_joint)
{
//Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
dJointAttach(ed->ode.ode_joint, 0, 0);
dJointDestroy(ed->ode.ode_joint);
}
ed->ode.ode_joint = (void *) j;
ed->ode.ode_joint_type = jointtype;
ed->ode.ode_joint_enemy = enemy;
ed->ode.ode_joint_aiment = aiment;
VectorCopy(origin, ed->ode.ode_joint_origin);
VectorCopy(velocity, ed->ode.ode_joint_velocity);
VectorCopy(angles, ed->ode.ode_joint_angles);
VectorCopy(movedir, ed->ode.ode_joint_movedir);
if(j)
{
//Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
dJointSetData(j, (void *) ed);
if(enemy)
b1 = (dBodyID)(EDICT_NUM(world->progs, enemy)->ode.ode_body);
if(aiment)
b2 = (dBodyID)world->edicts[aiment].ode.ode_body;
dJointAttach(j, b1, b2);
switch(jointtype)
{
case JOINTTYPE_POINT:
dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
break;
case JOINTTYPE_HINGE:
dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
dJointSetHingeParam(j, dParamFMax, FMax);
dJointSetHingeParam(j, dParamHiStop, Stop);
dJointSetHingeParam(j, dParamLoStop, -Stop);
dJointSetHingeParam(j, dParamStopCFM, CFM);
dJointSetHingeParam(j, dParamStopERP, ERP);
dJointSetHingeParam(j, dParamVel, Vel);
break;
case JOINTTYPE_SLIDER:
dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
dJointSetSliderParam(j, dParamFMax, FMax);
dJointSetSliderParam(j, dParamHiStop, Stop);
dJointSetSliderParam(j, dParamLoStop, -Stop);
dJointSetSliderParam(j, dParamStopCFM, CFM);
dJointSetSliderParam(j, dParamStopERP, ERP);
dJointSetSliderParam(j, dParamVel, Vel);
break;
case JOINTTYPE_UNIVERSAL:
dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
dJointSetUniversalParam(j, dParamFMax, FMax);
dJointSetUniversalParam(j, dParamHiStop, Stop);
dJointSetUniversalParam(j, dParamLoStop, -Stop);
dJointSetUniversalParam(j, dParamStopCFM, CFM);
dJointSetUniversalParam(j, dParamStopERP, ERP);
dJointSetUniversalParam(j, dParamVel, Vel);
dJointSetUniversalParam(j, dParamFMax2, FMax);
dJointSetUniversalParam(j, dParamHiStop2, Stop);
dJointSetUniversalParam(j, dParamLoStop2, -Stop);
dJointSetUniversalParam(j, dParamStopCFM2, CFM);
dJointSetUniversalParam(j, dParamStopERP2, ERP);
dJointSetUniversalParam(j, dParamVel2, Vel);
break;
case JOINTTYPE_HINGE2:
dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
dJointSetHinge2Param(j, dParamFMax, FMax);
dJointSetHinge2Param(j, dParamHiStop, Stop);
dJointSetHinge2Param(j, dParamLoStop, -Stop);
dJointSetHinge2Param(j, dParamStopCFM, CFM);
dJointSetHinge2Param(j, dParamStopERP, ERP);
dJointSetHinge2Param(j, dParamVel, Vel);
dJointSetHinge2Param(j, dParamFMax2, FMax);
dJointSetHinge2Param(j, dParamHiStop2, Stop);
dJointSetHinge2Param(j, dParamLoStop2, -Stop);
dJointSetHinge2Param(j, dParamStopCFM2, CFM);
dJointSetHinge2Param(j, dParamStopERP2, ERP);
dJointSetHinge2Param(j, dParamVel2, Vel);
break;
case JOINTTYPE_FIXED:
break;
case 0:
default:
Sys_Error("what? but above the joint was valid...\n");
break;
}
#undef SETPARAMS
}
}
static qboolean GenerateCollisionMesh(world_t *world, model_t *mod, wedict_t *ed, vec3_t geomcenter)
{
unsigned int sno;
msurface_t *surf;
mesh_t *mesh;
unsigned int numverts;
unsigned int numindexes,i;
numverts = 0;
numindexes = 0;
for (sno = 0; sno < mod->nummodelsurfaces; sno++)
{
surf = &mod->surfaces[sno+mod->firstmodelsurface];
if (surf->flags & (SURF_DRAWSKY|SURF_DRAWTURB))
continue;
if (surf->mesh)
{
mesh = surf->mesh;
numverts += mesh->numvertexes;
numindexes += mesh->numindexes;
}
else
{
numverts += surf->numedges;
numindexes += (surf->numedges-2) * 3;
}
}
if (!numindexes)
{
Con_Printf("entity %i (classname %s) has no geometry\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname));
return false;
}
ed->ode.ode_element3i = BZ_Malloc(numindexes*sizeof(index_t));
ed->ode.ode_vertex3f = BZ_Malloc(numverts*sizeof(vec3_t));
numverts = 0;
numindexes = 0;
for (sno = 0; sno < mod->nummodelsurfaces; sno++)
{
surf = &mod->surfaces[sno+mod->firstmodelsurface];
if (surf->flags & (SURF_DRAWSKY|SURF_DRAWTURB))
continue;
if (surf->mesh)
{
mesh = surf->mesh;
for (i = 0; i < mesh->numvertexes; i++)
VectorSubtract(mesh->xyz_array[i], geomcenter, (ed->ode.ode_vertex3f + 3*(numverts+i)));
for (i = 0; i < mesh->numindexes; i+=3)
{
//flip the triangles as we go
ed->ode.ode_element3i[numindexes+i+0] = numverts+mesh->indexes[i+2];
ed->ode.ode_element3i[numindexes+i+1] = numverts+mesh->indexes[i+1];
ed->ode.ode_element3i[numindexes+i+2] = numverts+mesh->indexes[i+0];
}
numverts += mesh->numvertexes;
numindexes += i;
}
else
{
float *vec;
medge_t *edge;
int lindex;
for (i = 0; i < surf->numedges; i++)
{
lindex = mod->surfedges[surf->firstedge + i];
if (lindex > 0)
{
edge = &mod->edges[lindex];
vec = mod->vertexes[edge->v[0]].position;
}
else
{
edge = &mod->edges[-lindex];
vec = mod->vertexes[edge->v[1]].position;
}
VectorSubtract(vec, geomcenter, (ed->ode.ode_vertex3f + 3*(numverts+i)));
}
for (i = 2; i < surf->numedges; i++)
{
//quake is backwards, not ode
ed->ode.ode_element3i[numindexes++] = numverts+i;
ed->ode.ode_element3i[numindexes++] = numverts+i-1;
ed->ode.ode_element3i[numindexes++] = numverts;
}
numverts += surf->numedges;
}
}
ed->ode.ode_numvertices = numverts;
ed->ode.ode_numtriangles = numindexes/3;
return true;
}
static void World_Physics_Frame_BodyFromEntity(world_t *world, wedict_t *ed)
{
dBodyID body = (dBodyID)ed->ode.ode_body;
dMass mass;
float test;
void *dataID;
dVector3 capsulerot[3];
model_t *model;
int axisindex;
int modelindex = 0;
int movetype = MOVETYPE_NONE;
int solid = SOLID_NOT;
qboolean modified = false;
vec3_t angles;
vec3_t avelocity;
vec3_t entmaxs;
vec3_t entmins;
vec3_t forward;
vec3_t geomcenter;
vec3_t geomsize;
vec3_t left;
vec3_t origin;
vec3_t spinvelocity;
vec3_t up;
vec3_t velocity;
vec_t f;
vec_t length;
vec_t massval = 1.0f;
vec_t movelimit;
vec_t radius;
vec_t scale;
vec_t spinlimit;
qboolean gravity;
#ifdef ODE_DYNAMIC
if (!ode_dll)
return;
#endif
solid = (int)ed->v->solid;
movetype = (int)ed->v->movetype;
scale = ed->xv->scale?ed->xv->scale:1;
modelindex = 0;
model = NULL;
switch(solid)
{
case SOLID_BSP:
modelindex = (int)ed->v->modelindex;
model = world->GetCModel(world, modelindex);
if (model)
{
VectorScale(model->mins, scale, entmins);
VectorScale(model->maxs, scale, entmaxs);
if (ed->xv->mass)
massval = ed->xv->mass;
}
else
{
modelindex = 0;
massval = 1.0f;
}
break;
case SOLID_BBOX:
case SOLID_SLIDEBOX:
case SOLID_CORPSE:
case SOLID_PHYSICS_BOX:
case SOLID_PHYSICS_SPHERE:
case SOLID_PHYSICS_CAPSULE:
VectorCopy(ed->v->mins, entmins);
VectorCopy(ed->v->maxs, entmaxs);
if (ed->xv->mass)
massval = ed->xv->mass;
break;
default:
if (ed->ode.ode_physics)
World_Physics_RemoveFromEntity(world, ed);
return;
}
VectorSubtract(entmaxs, entmins, geomsize);
if (DotProduct(geomsize,geomsize) == 0)
{
// we don't allow point-size physics objects...
if (ed->ode.ode_physics)
World_Physics_RemoveFromEntity(world, ed);
return;
}
if (movetype != MOVETYPE_PHYSICS)
massval = 1.0f;
// check if we need to create or replace the geom
if (!ed->ode.ode_physics
|| !VectorCompare(ed->ode.ode_mins, entmins)
|| !VectorCompare(ed->ode.ode_maxs, entmaxs)
|| ed->ode.ode_mass != massval
|| ed->ode.ode_modelindex != modelindex)
{
modified = true;
World_Physics_RemoveFromEntity(world, ed);
ed->ode.ode_physics = true;
VectorCopy(entmins, ed->ode.ode_mins);
VectorCopy(entmaxs, ed->ode.ode_maxs);
ed->ode.ode_mass = massval;
ed->ode.ode_modelindex = modelindex;
VectorAvg(entmins, entmaxs, geomcenter);
ed->ode.ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
{
if (movetype == MOVETYPE_PHYSICS)
Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname));
massval = 1.0f;
VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
}
switch(solid)
{
case SOLID_BSP:
Matrix4_Identity(ed->ode.ode_offsetmatrix);
if (!model)
{
Con_Printf("entity %i (classname %s) has no model\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname));
break;
}
if (!GenerateCollisionMesh(world, model, ed, geomcenter))
break;
Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
// now create the geom
dataID = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(dataID, (void*)ed->ode.ode_vertex3f, sizeof(float[3]), ed->ode.ode_numvertices, ed->ode.ode_element3i, ed->ode.ode_numtriangles*3, sizeof(int[3]));
ed->ode.ode_geom = (void *)dCreateTriMesh(world->ode.ode_space, dataID, NULL, NULL, NULL);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
case SOLID_BBOX:
case SOLID_SLIDEBOX:
case SOLID_CORPSE:
case SOLID_PHYSICS_BOX:
Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->ode.ode_geom = (void *)dCreateBox(world->ode.ode_space, geomsize[0], geomsize[1], geomsize[2]);
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
break;
case SOLID_PHYSICS_SPHERE:
Matrix4Q_CreateTranslate(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
ed->ode.ode_geom = (void *)dCreateSphere(world->ode.ode_space, geomsize[0] * 0.5f);
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
break;
#pragma message("SOLID_PHYSICS_CAPSULE not supported")
/* case SOLID_PHYSICS_CAPSULE:
axisindex = 0;
if (geomsize[axisindex] < geomsize[1])
axisindex = 1;
if (geomsize[axisindex] < geomsize[2])
axisindex = 2;
// the qc gives us 3 axis radius, the longest axis is the capsule
// axis, since ODE doesn't like this idea we have to create a
// capsule which uses the standard orientation, and apply a
// transform to it
memset(capsulerot, 0, sizeof(capsulerot));
if (axisindex == 0)
Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
else if (axisindex == 1)
Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
else
Matrix4_CreateFromQuakeEntity(ed->ode.ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
length = geomsize[axisindex] - radius*2;
// because we want to support more than one axisindex, we have to
// create a transform, and turn on its cleanup setting (which will
// cause the child to be destroyed when it is destroyed)
ed->ode.ode_geom = (void *)dCreateCapsule(world->ode.ode_space, radius, length);
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
break;
*/
default:
Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
}
Matrix4Q_Invert_Simple(ed->ode.ode_offsetmatrix, ed->ode.ode_offsetimatrix);
ed->ode.ode_massbuf = BZ_Malloc(sizeof(dMass));
memcpy(ed->ode.ode_massbuf, &mass, sizeof(dMass));
}
if(ed->ode.ode_geom)
dGeomSetData(ed->ode.ode_geom, (void*)ed);
if (movetype == MOVETYPE_PHYSICS && ed->ode.ode_geom)
{
if (ed->ode.ode_body == NULL)
{
ed->ode.ode_body = (void *)(body = dBodyCreate(world->ode.ode_world));
dGeomSetBody(ed->ode.ode_geom, body);
dBodySetData(body, (void*)ed);
dBodySetMass(body, (dMass *) ed->ode.ode_massbuf);
modified = true;
}
}
else
{
if (ed->ode.ode_body != NULL)
{
if(ed->ode.ode_geom)
dGeomSetBody(ed->ode.ode_geom, 0);
dBodyDestroy((dBodyID) ed->ode.ode_body);
ed->ode.ode_body = NULL;
modified = true;
}
}
// get current data from entity
VectorClear(origin);
VectorClear(velocity);
//VectorClear(forward);
//VectorClear(left);
//VectorClear(up);
//VectorClear(spinvelocity);
VectorClear(angles);
VectorClear(avelocity);
gravity = true;
VectorCopy(ed->v->origin, origin);
VectorCopy(ed->v->velocity, velocity);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
//val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
VectorCopy(ed->v->angles, angles);
VectorCopy(ed->v->avelocity, avelocity);
if (ed == world->edicts || (ed->xv->gravity && ed->xv->gravity <= 0.01))
gravity = false;
// compatibility for legacy entities
//if (!VectorLength2(forward) || solid == SOLID_BSP)
{
vec3_t qangles, qavelocity;
VectorCopy(angles, qangles);
VectorCopy(avelocity, qavelocity);
if (ed->v->modelindex)
{
model = world->GetCModel(world, ed->v->modelindex);
if (!model || model->type == mod_alias)
{
qangles[PITCH] *= -1;
qavelocity[PITCH] *= -1;
}
}
AngleVectorsFLU(qangles, forward, left, up);
// convert single-axis rotations in avelocity to spinvelocity
// FIXME: untested math - check signs
VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
}
// compatibility for legacy entities
switch (solid)
{
case SOLID_BBOX:
case SOLID_SLIDEBOX:
case SOLID_CORPSE:
VectorSet(forward, 1, 0, 0);
VectorSet(left, 0, 1, 0);
VectorSet(up, 0, 0, 1);
VectorSet(spinvelocity, 0, 0, 0);
break;
}
// we must prevent NANs...
test = DotProduct(origin,origin) + DotProduct(forward,forward) + DotProduct(left,left) + DotProduct(up,up) + DotProduct(velocity,velocity) + DotProduct(spinvelocity,spinvelocity);
if (IS_NAN(test))
{
modified = true;
//Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", NUM_FOR_EDICT(world->progs, (edict_t*)ed), PR_GetString(world->progs, ed->v->classname), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
test = DotProduct(origin,origin);
if (IS_NAN(test))
VectorClear(origin);
test = DotProduct(forward,forward) * DotProduct(left,left) * DotProduct(up,up);
if (IS_NAN(test))
{
VectorSet(angles, 0, 0, 0);
VectorSet(forward, 1, 0, 0);
VectorSet(left, 0, 1, 0);
VectorSet(up, 0, 0, 1);
}
test = DotProduct(velocity,velocity);
if (IS_NAN(test))
VectorClear(velocity);
test = DotProduct(spinvelocity,spinvelocity);
if (IS_NAN(test))
{
VectorClear(avelocity);
VectorClear(spinvelocity);
}
}
// check if the qc edited any position data
if (!VectorCompare(origin, ed->ode.ode_origin)
|| !VectorCompare(velocity, ed->ode.ode_velocity)
|| !VectorCompare(angles, ed->ode.ode_angles)
|| !VectorCompare(avelocity, ed->ode.ode_avelocity)
|| gravity != ed->ode.ode_gravity)
modified = true;
// store the qc values into the physics engine
body = ed->ode.ode_body;
if (modified && ed->ode.ode_geom)
{
dVector3 r[3];
float entitymatrix[16];
float bodymatrix[16];
#if 0
Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
if(!VectorCompare(origin, ed->ode.ode_origin))
Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->ode.ode_origin[0], ed->ode.ode_origin[1], ed->ode.ode_origin[2], origin[0], origin[1], origin[2]);
if(!VectorCompare(velocity, ed->ode.ode_velocity))
Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->ode.ode_velocity[0], ed->ode.ode_velocity[1], ed->ode.ode_velocity[2], velocity[0], velocity[1], velocity[2]);
if(!VectorCompare(angles, ed->ode.ode_angles))
Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->ode.ode_angles[0], ed->ode.ode_angles[1], ed->ode.ode_angles[2], angles[0], angles[1], angles[2]);
if(!VectorCompare(avelocity, ed->ode.ode_avelocity))
Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->ode.ode_avelocity[0], ed->ode.ode_avelocity[1], ed->ode.ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
if(gravity != ed->ode.ode_gravity)
Con_Printf(" gravity: %i -> %i\n", ed->ide.ode_gravity, gravity);
#endif
// values for BodyFromEntity to check if the qc modified anything later
VectorCopy(origin, ed->ode.ode_origin);
VectorCopy(velocity, ed->ode.ode_velocity);
VectorCopy(angles, ed->ode.ode_angles);
VectorCopy(avelocity, ed->ode.ode_avelocity);
ed->ode.ode_gravity = gravity;
Matrix4Q_FromVectors(entitymatrix, forward, left, up, origin);
Matrix4_Multiply(ed->ode.ode_offsetmatrix, entitymatrix, bodymatrix);
Matrix4Q_ToVectors(bodymatrix, forward, left, up, origin);
r[0][0] = forward[0];
r[1][0] = forward[1];
r[2][0] = forward[2];
r[0][1] = left[0];
r[1][1] = left[1];
r[2][1] = left[2];
r[0][2] = up[0];
r[1][2] = up[1];
r[2][2] = up[2];
if(body)
{
if(movetype == MOVETYPE_PHYSICS)
{
dGeomSetBody(ed->ode.ode_geom, body);
dBodySetPosition(body, origin[0], origin[1], origin[2]);
dBodySetRotation(body, r[0]);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
dBodySetGravityMode(body, gravity);
}
else
{
dGeomSetBody(ed->ode.ode_geom, body);
dBodySetPosition(body, origin[0], origin[1], origin[2]);
dBodySetRotation(body, r[0]);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
dBodySetGravityMode(body, gravity);
dGeomSetBody(ed->ode.ode_geom, 0);
}
}
else
{
// no body... then let's adjust the parameters of the geom directly
dGeomSetBody(ed->ode.ode_geom, 0); // just in case we previously HAD a body (which should never happen)
dGeomSetPosition(ed->ode.ode_geom, origin[0], origin[1], origin[2]);
dGeomSetRotation(ed->ode.ode_geom, r[0]);
}
}
if(body)
{
// limit movement speed to prevent missed collisions at high speed
const dReal *ovelocity = dBodyGetLinearVel(body);
const dReal *ospinvelocity = dBodyGetAngularVel(body);
movelimit = ed->ode.ode_movelimit * world->ode.ode_movelimit;
test = DotProduct(ovelocity,ovelocity);
if (test > movelimit*movelimit)
{
// scale down linear velocity to the movelimit
// scale down angular velocity the same amount for consistency
f = movelimit / sqrt(test);
VectorScale(ovelocity, f, velocity);
VectorScale(ospinvelocity, f, spinvelocity);
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
}
// make sure the angular velocity is not exploding
spinlimit = physics_ode_spinlimit.value;
test = DotProduct(ospinvelocity,ospinvelocity);
if (test > spinlimit)
{
dBodySetAngularVel(body, 0, 0, 0);
}
}
}
#define MAX_CONTACTS 16
static void VARGS nearCallback (void *data, dGeomID o1, dGeomID o2)
{
world_t *world = (world_t *)data;
dContact contact[MAX_CONTACTS]; // max contacts per collision pair
dBodyID b1;
dBodyID b2;
dJointID c;
int i;
int numcontacts;
float bouncefactor1 = 0.0f;
float bouncestop1 = 60.0f / 800.0f;
float bouncefactor2 = 0.0f;
float bouncestop2 = 60.0f / 800.0f;
dVector3 grav;
wedict_t *ed1, *ed2;
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
{
// colliding a space with something
dSpaceCollide2(o1, o2, data, &nearCallback);
// Note we do not want to test intersections within a space,
// only between spaces.
//if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
//if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
return;
}
b1 = dGeomGetBody(o1);
b2 = dGeomGetBody(o2);
// at least one object has to be using MOVETYPE_PHYSICS or we just don't care
if (!b1 && !b2)
return;
// exit without doing anything if the two bodies are connected by a joint
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
return;
ed1 = (wedict_t *) dGeomGetData(o1);
if(ed1 && ed1->isfree)
ed1 = NULL;
ed2 = (wedict_t *) dGeomGetData(o2);
if(ed2 && ed2->isfree)
ed2 = NULL;
// generate contact points between the two non-space geoms
numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
if (numcontacts)
{
if(ed1 && ed1->v->touch)
{
world->Event_Touch(world, ed1, ed2);
}
if(ed2 && ed2->v->touch)
{
world->Event_Touch(world, ed2, ed1);
}
/* if either ent killed itself, don't collide */
if ((ed1&&ed1->isfree) || (ed2&&ed2->isfree))
return;
}
if(ed1)
{
if (ed1->xv->bouncefactor)
bouncefactor1 = ed1->xv->bouncefactor;
if (ed1->xv->bouncestop)
bouncestop1 = ed1->xv->bouncestop;
}
if(ed2)
{
if (ed2->xv->bouncefactor)
bouncefactor2 = ed2->xv->bouncefactor;
if (ed2->xv->bouncestop)
bouncestop2 = ed2->xv->bouncestop;
}
if ((ed2->entnum&&ed1->v->owner == ed2->entnum) || (ed1->entnum&&ed2->v->owner == ed1->entnum))
return;
// merge bounce factors and bounce stop
if(bouncefactor2 > 0)
{
if(bouncefactor1 > 0)
{
// TODO possibly better logic to merge bounce factor data?
if(bouncestop2 < bouncestop1)
bouncestop1 = bouncestop2;
if(bouncefactor2 > bouncefactor1)
bouncefactor1 = bouncefactor2;
}
else
{
bouncestop1 = bouncestop2;
bouncefactor1 = bouncefactor2;
}
}
dWorldGetGravity(world->ode.ode_world, grav);
bouncestop1 *= fabs(grav[2]);
// add these contact points to the simulation
for (i = 0;i < numcontacts;i++)
{
contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) |
(physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) |
(physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) |
(bouncefactor1 > 0 ? dContactBounce : 0);
contact[i].surface.mu = physics_ode_contact_mu.value;
contact[i].surface.soft_erp = physics_ode_contact_erp.value;
contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
contact[i].surface.bounce = bouncefactor1;
contact[i].surface.bounce_vel = bouncestop1;
c = dJointCreateContact(world->ode.ode_world, world->ode.ode_contactgroup, contact + i);
dJointAttach(c, b1, b2);
}
}
void World_Physics_Frame(world_t *world, double frametime, double gravity)
{
if (world->ode.ode)
{
int i;
wedict_t *ed;
world->ode.ode_iterations = bound(1, physics_ode_iterationsperframe.ival, 1000);
world->ode.ode_step = frametime / world->ode.ode_iterations;
world->ode.ode_movelimit = physics_ode_movelimit.value / world->ode.ode_step;
// copy physics properties from entities to physics engine
for (i = 0;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM(world->progs, i);
if (!ed->isfree)
World_Physics_Frame_BodyFromEntity(world, ed);
}
// oh, and it must be called after all bodies were created
for (i = 0;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM(world->progs, i);
if (!ed->isfree)
World_Physics_Frame_JointFromEntity(world, ed);
}
for (i = 0;i < world->ode.ode_iterations;i++)
{
// set the gravity
dWorldSetGravity(world->ode.ode_world, 0, 0, -gravity);
// set the tolerance for closeness of objects
dWorldSetContactSurfaceLayer(world->ode.ode_world, max(0, physics_ode_contactsurfacelayer.value));
// run collisions for the current world state, creating JointGroup
dSpaceCollide(world->ode.ode_space, (void *)world, nearCallback);
// run physics (move objects, calculate new velocities)
if (physics_ode_worldquickstep.ival)
{
dWorldSetQuickStepNumIterations(world->ode.ode_world, bound(1, physics_ode_worldquickstep_iterations.ival, 200));
dWorldQuickStep(world->ode.ode_world, world->ode.ode_step);
}
else
dWorldStep(world->ode.ode_world, world->ode.ode_step);
// clear the JointGroup now that we're done with it
dJointGroupEmpty(world->ode.ode_contactgroup);
}
// copy physics properties from physics engine to entities
for (i = 1;i < world->num_edicts;i++)
{
ed = (wedict_t*)EDICT_NUM(world->progs, i);
if (!ed->isfree)
World_Physics_Frame_BodyToEntity(world, ed);
}
}
}
#endif
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