/* 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. */ // world.c -- world query functions #include "quakedef.h" #include "clvm_cmds.h" #include "cl_collision.h" /* entities never clip against themselves, or their owner line of sight checks trace->inopen and trace->inwater, but bullets don't */ static void World_Physics_Init(void); void World_Init(void) { Collision_Init(); World_Physics_Init(); } static void World_Physics_Shutdown(void); void World_Shutdown(void) { World_Physics_Shutdown(); } static void World_Physics_Start(world_t *world); void World_Start(world_t *world) { World_Physics_Start(world); } static void World_Physics_End(world_t *world); void World_End(world_t *world) { World_Physics_End(world); } //============================================================================ /// World_ClearLink is used for new headnodes void World_ClearLink (link_t *l) { l->entitynumber = 0; l->prev = l->next = l; } void World_RemoveLink (link_t *l) { l->next->prev = l->prev; l->prev->next = l->next; } void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber) { l->entitynumber = entitynumber; l->next = before; l->prev = before->prev; l->prev->next = l; l->next->prev = l; } /* =============================================================================== ENTITY AREA CHECKING =============================================================================== */ void World_PrintAreaStats(world_t *world, const char *worldname) { Con_Printf("%s areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", worldname, world->areagrid_stats_calls, world->areagrid_stats_nodechecks, (double) world->areagrid_stats_nodechecks / (double) world->areagrid_stats_calls, world->areagrid_stats_entitychecks, (double) world->areagrid_stats_entitychecks / (double) world->areagrid_stats_calls); world->areagrid_stats_calls = 0; world->areagrid_stats_nodechecks = 0; world->areagrid_stats_entitychecks = 0; } /* =============== World_SetSize =============== */ void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog) { int i; strlcpy(world->filename, filename, sizeof(world->filename)); VectorCopy(mins, world->mins); VectorCopy(maxs, world->maxs); world->prog = prog; // the areagrid_marknumber is not allowed to be 0 if (world->areagrid_marknumber < 1) world->areagrid_marknumber = 1; // choose either the world box size, or a larger box to ensure the grid isn't too fine world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value); world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value); world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value); // figure out the corners of such a box, centered at the center of the world box world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f; world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f; world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f; world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f; world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f; world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f; // now calculate the actual useful info from that VectorNegate(world->areagrid_mins, world->areagrid_bias); world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0]; world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1]; world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2]; World_ClearLink(&world->areagrid_outside); for (i = 0;i < AREA_GRIDNODES;i++) World_ClearLink(&world->areagrid[i]); if (developer_extra.integer) Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value); } /* =============== World_UnlinkAll =============== */ void World_UnlinkAll(world_t *world) { prvm_prog_t *prog = world->prog; int i; link_t *grid; // unlink all entities one by one grid = &world->areagrid_outside; while (grid->next != grid) World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++) while (grid->next != grid) World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber)); } /* =============== =============== */ void World_UnlinkEdict(prvm_edict_t *ent) { int i; for (i = 0;i < ENTITYGRIDAREAS;i++) { if (ent->priv.server->areagrid[i].prev) { World_RemoveLink (&ent->priv.server->areagrid[i]); ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL; } } } int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list) { prvm_prog_t *prog = world->prog; int numlist; link_t *grid; link_t *l; prvm_edict_t *ent; vec3_t paddedmins, paddedmaxs; int igrid[3], igridmins[3], igridmaxs[3]; // LordHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination) //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f); //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f); VectorCopy(requestmins, paddedmins); VectorCopy(requestmaxs, paddedmaxs); // FIXME: if areagrid_marknumber wraps, all entities need their // ent->priv.server->areagridmarknumber reset world->areagrid_stats_calls++; world->areagrid_marknumber++; igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; igridmins[0] = max(0, igridmins[0]); igridmins[1] = max(0, igridmins[1]); //igridmins[2] = max(0, igridmins[2]); igridmaxs[0] = min(AREA_GRID, igridmaxs[0]); igridmaxs[1] = min(AREA_GRID, igridmaxs[1]); //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]); // paranoid debugging //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID); numlist = 0; // add entities not linked into areagrid because they are too big or // outside the grid bounds if (world->areagrid_outside.next) { grid = &world->areagrid_outside; for (l = grid->next;l != grid;l = l->next) { ent = PRVM_EDICT_NUM(l->entitynumber); if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { ent->priv.server->areagridmarknumber = world->areagrid_marknumber; if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } world->areagrid_stats_entitychecks++; } } } // add grid linked entities for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++) { if (grid->next) { for (l = grid->next;l != grid;l = l->next) { ent = PRVM_EDICT_NUM(l->entitynumber); if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber) { ent->priv.server->areagridmarknumber = world->areagrid_marknumber; if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs)) { if (numlist < maxlist) list[numlist] = ent; numlist++; } //Con_Printf("%d %f %f %f %f %f %f : %d : %f %f %f %f %f %f\n", BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs), ent->priv.server->areamins[0], ent->priv.server->areamins[1], ent->priv.server->areamins[2], ent->priv.server->areamaxs[0], ent->priv.server->areamaxs[1], ent->priv.server->areamaxs[2], PRVM_NUM_FOR_EDICT(ent), mins[0], mins[1], mins[2], maxs[0], maxs[1], maxs[2]); } world->areagrid_stats_entitychecks++; } } } } return numlist; } static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent) { prvm_prog_t *prog = world->prog; link_t *grid; int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent); if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent) { Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber); return; } igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]); igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]); //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]); igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1; igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1; //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1; if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS) { // wow, something outside the grid, store it as such World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber); return; } gridnum = 0; for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++) { grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0]; for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++) World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber); } } /* =============== World_LinkEdict =============== */ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs) { prvm_prog_t *prog = world->prog; // unlink from old position first if (ent->priv.server->areagrid[0].prev) World_UnlinkEdict(ent); // don't add the world if (ent == prog->edicts) return; // don't add free entities if (ent->priv.server->free) return; VectorCopy(mins, ent->priv.server->areamins); VectorCopy(maxs, ent->priv.server->areamaxs); World_LinkEdict_AreaGrid(world, ent); } //============================================================================ // physics engine support //============================================================================ #ifdef USEODE cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"}; cvar_t physics_ode_allowconvex = {0, "physics_ode_allowconvex", "0", "allow usage of Convex Hull primitive type on trimeshes that have custom 'collisionconvex' mesh. If disabled, trimesh primitive type are used."}; cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"}; cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"}; cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"}; cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"}; cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"}; cvar_t physics_ode_contact_maxpoints = {0, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"}; cvar_t physics_ode_world_erp = {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 = {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_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"}; cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"}; cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"}; cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"}; cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "0", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"}; cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"}; cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"}; cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"}; cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"}; cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"}; cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"}; cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls, be aware that behavior depends of step type"}; cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"}; cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"}; cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"}; cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"}; // LordHavoc: this large chunk of definitions comes from the ODE library // include files. #ifdef ODE_STATIC #include "ode/ode.h" #else #ifdef WINAPI // ODE does not use WINAPI #define ODE_API #else #define ODE_API #endif // note: dynamic builds of ODE tend to be double precision, this is not used // for static builds typedef double dReal; typedef dReal dVector3[4]; typedef dReal dVector4[4]; typedef dReal dMatrix3[4*3]; typedef dReal dMatrix4[4*4]; typedef dReal dMatrix6[8*6]; typedef dReal dQuaternion[4]; struct dxWorld; /* dynamics world */ struct dxSpace; /* collision space */ struct dxBody; /* rigid body (dynamics object) */ struct dxGeom; /* geometry (collision object) */ struct dxJoint; struct dxJointNode; struct dxJointGroup; struct dxTriMeshData; #define dInfinity 3.402823466e+38f typedef struct dxWorld *dWorldID; typedef struct dxSpace *dSpaceID; typedef struct dxBody *dBodyID; typedef struct dxGeom *dGeomID; typedef struct dxJoint *dJointID; typedef struct dxJointGroup *dJointGroupID; typedef struct dxTriMeshData *dTriMeshDataID; typedef struct dJointFeedback { dVector3 f1; /* force applied to body 1 */ dVector3 t1; /* torque applied to body 1 */ dVector3 f2; /* force applied to body 2 */ dVector3 t2; /* torque applied to body 2 */ } dJointFeedback; typedef enum dJointType { dJointTypeNone = 0, dJointTypeBall, dJointTypeHinge, dJointTypeSlider, dJointTypeContact, dJointTypeUniversal, dJointTypeHinge2, dJointTypeFixed, dJointTypeNull, dJointTypeAMotor, dJointTypeLMotor, dJointTypePlane2D, dJointTypePR, dJointTypePU, dJointTypePiston } dJointType; #define D_ALL_PARAM_NAMES(start) \ /* parameters for limits and motors */ \ dParamLoStop = start, \ dParamHiStop, \ dParamVel, \ dParamFMax, \ dParamFudgeFactor, \ dParamBounce, \ dParamCFM, \ dParamStopERP, \ dParamStopCFM, \ /* parameters for suspension */ \ dParamSuspensionERP, \ dParamSuspensionCFM, \ dParamERP, \ #define D_ALL_PARAM_NAMES_X(start,x) \ /* parameters for limits and motors */ \ dParamLoStop ## x = start, \ dParamHiStop ## x, \ dParamVel ## x, \ dParamFMax ## x, \ dParamFudgeFactor ## x, \ dParamBounce ## x, \ dParamCFM ## x, \ dParamStopERP ## x, \ dParamStopCFM ## x, \ /* parameters for suspension */ \ dParamSuspensionERP ## x, \ dParamSuspensionCFM ## x, \ dParamERP ## x, enum { D_ALL_PARAM_NAMES(0) D_ALL_PARAM_NAMES_X(0x100,2) D_ALL_PARAM_NAMES_X(0x200,3) /* add a multiple of this constant to the basic parameter numbers to get * the parameters for the second, third etc axes. */ dParamGroup=0x100 }; typedef struct dMass { dReal mass; dVector3 c; dMatrix3 I; } dMass; enum { dContactMu2 = 0x001, dContactFDir1 = 0x002, dContactBounce = 0x004, dContactSoftERP = 0x008, dContactSoftCFM = 0x010, dContactMotion1 = 0x020, dContactMotion2 = 0x040, dContactMotionN = 0x080, dContactSlip1 = 0x100, dContactSlip2 = 0x200, dContactApprox0 = 0x0000, dContactApprox1_1 = 0x1000, dContactApprox1_2 = 0x2000, dContactApprox1 = 0x3000 }; typedef struct dSurfaceParameters { /* must always be defined */ int mode; dReal mu; /* only defined if the corresponding flag is set in mode */ dReal mu2; dReal bounce; dReal bounce_vel; dReal soft_erp; dReal soft_cfm; dReal motion1,motion2,motionN; dReal slip1,slip2; } dSurfaceParameters; typedef struct dContactGeom { dVector3 pos; ///< contact position dVector3 normal; ///< normal vector dReal depth; ///< penetration depth dGeomID g1,g2; ///< the colliding geoms int side1,side2; ///< (to be documented) } dContactGeom; typedef struct dContact { dSurfaceParameters surface; dContactGeom geom; dVector3 fdir1; } dContact; typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); // SAP // Order XZY or ZXY usually works best, if your Y is up. #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) #define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) #define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) #define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) const char* (ODE_API *dGetConfiguration)(void); int (ODE_API *dCheckConfiguration)( const char* token ); int (ODE_API *dInitODE)(void); //int (ODE_API *dInitODE2)(unsigned int uiInitFlags); //int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags); //void (ODE_API *dCleanupODEAllDataForThread)(void); void (ODE_API *dCloseODE)(void); //int (ODE_API *dMassCheck)(const dMass *m); //void (ODE_API *dMassSetZero)(dMass *); //void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23); //void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius); void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius); //void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length); void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length); void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length); //void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz); void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz); //void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g); //void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g); //void (ODE_API *dMassAdjust)(dMass *, dReal newmass); //void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z); //void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R); //void (ODE_API *dMassAdd)(dMass *a, const dMass *b); // dWorldID (ODE_API *dWorldCreate)(void); void (ODE_API *dWorldDestroy)(dWorldID world); void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z); void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity); void (ODE_API *dWorldSetERP)(dWorldID, dReal erp); //dReal (ODE_API *dWorldGetERP)(dWorldID); void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm); //dReal (ODE_API *dWorldGetCFM)(dWorldID); //void (ODE_API *dWorldStep)(dWorldID, dReal stepsize); //void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force); void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize); void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num); //int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID); //void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation); //dReal (ODE_API *dWorldGetQuickStepW)(dWorldID); //void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel); //dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID); void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth); //dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID); //void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations); //void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth); //int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID); //dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID); void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold); //dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID); void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold); //dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold); //dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID); //void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold); //int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID); void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count ); //int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID); void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps); //dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID); void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time); //int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID); void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable); //dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w); void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold); //dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w); void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold); //dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w); void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale); //dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w); void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale); //void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale); //dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w); //void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed); //dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID); //void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold); //dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID); //void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold); //int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID); //void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count); //int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID); //void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps); //dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID); //void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time); //int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID); //void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable); //void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID); //dWorldID (ODE_API *dBodyGetWorld)(dBodyID); dBodyID (ODE_API *dBodyCreate)(dWorldID); void (ODE_API *dBodyDestroy)(dBodyID); void (ODE_API *dBodySetData)(dBodyID, void *data); void * (ODE_API *dBodyGetData)(dBodyID); void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z); void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R); //void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q); void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z); void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z); const dReal * (ODE_API *dBodyGetPosition)(dBodyID); //void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos); const dReal * (ODE_API *dBodyGetRotation)(dBodyID); //void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R); //const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID); //void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat); const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID); const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID); void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass); //void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass); void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz); void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz); //void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz); void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); //const dReal * (ODE_API *dBodyGetForce)(dBodyID); //const dReal * (ODE_API *dBodyGetTorque)(dBodyID); //void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z); //void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z); //void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result); //void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode); //void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z); //int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID); //void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result); int (ODE_API *dBodyGetNumJoints)(dBodyID b); dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index); //void (ODE_API *dBodySetDynamic)(dBodyID); //void (ODE_API *dBodySetKinematic)(dBodyID); //int (ODE_API *dBodyIsKinematic)(dBodyID); void (ODE_API *dBodyEnable)(dBodyID); void (ODE_API *dBodyDisable)(dBodyID); int (ODE_API *dBodyIsEnabled)(dBodyID); void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode); int (ODE_API *dBodyGetGravityMode)(dBodyID b); //void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID)); //dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b); //dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g); //void (ODE_API *dBodySetDampingDefaults)(dBodyID b); //dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b); //void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale); //dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b); //void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale); //void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale); //dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b); //void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold); //dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b); //void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold); //dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b); //void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed); //int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b); //void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled); dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *); dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID); dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID); //dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID); void (ODE_API *dJointDestroy)(dJointID); dJointGroupID (ODE_API *dJointGroupCreate)(int max_size); void (ODE_API *dJointGroupDestroy)(dJointGroupID); void (ODE_API *dJointGroupEmpty)(dJointGroupID); //int (ODE_API *dJointGetNumBodies)(dJointID); void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2); //void (ODE_API *dJointEnable)(dJointID); //void (ODE_API *dJointDisable)(dJointID); //int (ODE_API *dJointIsEnabled)(dJointID); void (ODE_API *dJointSetData)(dJointID, void *data); void * (ODE_API *dJointGetData)(dJointID); //dJointType (ODE_API *dJointGetType)(dJointID); dBodyID (ODE_API *dJointGetBody)(dJointID, int index); //void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *); //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID); void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value); void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle); void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque); void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force); void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2); void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z); void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2); void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2); //void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque); //void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque); //void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz); //void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force); //void (ODE_API *dJointSetFixed)(dJointID); //void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num); //void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle); //void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetAMotorMode)(dJointID, int mode); //void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3); //void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num); //void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z); //void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value); //void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter); //void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetHingeAngle)(dJointID); //dReal (ODE_API *dJointGetHingeAngleRate)(dJointID); //dReal (ODE_API *dJointGetSliderPosition)(dJointID); //dReal (ODE_API *dJointGetSliderPositionRate)(dJointID); //void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter); //void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter); //dReal (ODE_API *dJointGetHinge2Angle1)(dJointID); //dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID); //dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID); //void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter); //void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2); //dReal (ODE_API *dJointGetUniversalAngle1)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle2)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID); //dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID); //void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPRPosition)(dJointID); //dReal (ODE_API *dJointGetPRPositionRate)(dJointID); //dReal (ODE_API *dJointGetPRAngle)(dJointID); //dReal (ODE_API *dJointGetPRAngleRate)(dJointID); //void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter); //void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPUPosition)(dJointID); //dReal (ODE_API *dJointGetPUPositionRate)(dJointID); //void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result); //void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result); //void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2); //dReal (ODE_API *dJointGetPUAngle1)(dJointID); //dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID); //dReal (ODE_API *dJointGetPUAngle2)(dJointID); //dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID); //dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetPistonPosition)(dJointID); //dReal (ODE_API *dJointGetPistonPositionRate)(dJointID); //dReal (ODE_API *dJointGetPistonAngle)(dJointID); //dReal (ODE_API *dJointGetPistonAngleRate)(dJointID); //void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result); //void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result); //void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result); //dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter); //int (ODE_API *dJointGetAMotorNumAxes)(dJointID); //void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result); //int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum); //dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter); //int (ODE_API *dJointGetAMotorMode)(dJointID); //int (ODE_API *dJointGetLMotorNumAxes)(dJointID); //void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result); //dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter); //dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter); //dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID); //int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*); int (ODE_API *dAreConnected)(dBodyID, dBodyID); int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type); // dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space); dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space); dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); //dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder ); void (ODE_API *dSpaceDestroy)(dSpaceID); //void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel); //void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel); //void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode); //int (ODE_API *dSpaceGetCleanup)(dSpaceID space); //void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel); //int (ODE_API *dSpaceGetSublevel)(dSpaceID space); //void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode); //int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space); //void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID); //void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID); //int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID); //void (ODE_API *dSpaceClean)(dSpaceID); //int (ODE_API *dSpaceGetNumGeoms)(dSpaceID); //dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i); //int (ODE_API *dSpaceGetClass)(dSpaceID space); // void (ODE_API *dGeomDestroy)(dGeomID geom); void (ODE_API *dGeomSetData)(dGeomID geom, void* data); void * (ODE_API *dGeomGetData)(dGeomID geom); void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body); dBodyID (ODE_API *dGeomGetBody)(dGeomID geom); void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z); void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q); //const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom); //void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos); //const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom); //void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R); //void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result); //void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]); int (ODE_API *dGeomIsSpace)(dGeomID geom); //dSpaceID (ODE_API *dGeomGetSpace)(dGeomID); //int (ODE_API *dGeomGetClass)(dGeomID geom); //void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits); //void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits); //unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID); //unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID); //void (ODE_API *dGeomEnable)(dGeomID geom); //void (ODE_API *dGeomDisable)(dGeomID geom); //int (ODE_API *dGeomIsEnabled)(dGeomID geom); //void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z); //void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q); //void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z); //void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R); //void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion); //void (ODE_API *dGeomClearOffset)(dGeomID geom); //int (ODE_API *dGeomIsOffset)(dGeomID geom); //const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom); //void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos); //const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom); //void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R); //void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result); int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip); // void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback); void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); // dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius); //void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius); //dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere); //dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z); // dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); //void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons); // dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz); //void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz); //void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result); //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); //dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z); // //dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d); //void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d); //void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result); //dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z); // dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length); //void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length); //void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length); //dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z); // dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length); //void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length); //void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length); // //dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length); //void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length); //dReal (ODE_API *dGeomRayGetLength)(dGeomID ray); //void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); //void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir); // dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space); void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj); //dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g); void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode); //int (ODE_API *dGeomTransformGetCleanup)(dGeomID g); //void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode); //int (ODE_API *dGeomTransformGetInfo)(dGeomID g); enum { TRIMESH_FACE_NORMALS }; typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void); void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g); //void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data); //void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id); //void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans ); //dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g ); void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride); //void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals); //void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount); //void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals); //void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g); //void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen); //void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf); //void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback); //dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback); //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback); //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g); //void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback); //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g); dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); //void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data); //dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g); //void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable); //int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass); //void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g); //dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g); //void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); //void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); //int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g); //void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g); static dllfunction_t odefuncs[] = { {"dGetConfiguration", (void **) &dGetConfiguration}, {"dCheckConfiguration", (void **) &dCheckConfiguration}, {"dInitODE", (void **) &dInitODE}, // {"dInitODE2", (void **) &dInitODE2}, // {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread}, // {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread}, {"dCloseODE", (void **) &dCloseODE}, // {"dMassCheck", (void **) &dMassCheck}, // {"dMassSetZero", (void **) &dMassSetZero}, // {"dMassSetParameters", (void **) &dMassSetParameters}, // {"dMassSetSphere", (void **) &dMassSetSphere}, {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal}, // {"dMassSetCapsule", (void **) &dMassSetCapsule}, {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal}, // {"dMassSetCylinder", (void **) &dMassSetCylinder}, {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal}, // {"dMassSetBox", (void **) &dMassSetBox}, {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal}, // {"dMassSetTrimesh", (void **) &dMassSetTrimesh}, // {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal}, // {"dMassAdjust", (void **) &dMassAdjust}, // {"dMassTranslate", (void **) &dMassTranslate}, // {"dMassRotate", (void **) &dMassRotate}, // {"dMassAdd", (void **) &dMassAdd}, {"dWorldCreate", (void **) &dWorldCreate}, {"dWorldDestroy", (void **) &dWorldDestroy}, {"dWorldSetGravity", (void **) &dWorldSetGravity}, {"dWorldGetGravity", (void **) &dWorldGetGravity}, {"dWorldSetERP", (void **) &dWorldSetERP}, // {"dWorldGetERP", (void **) &dWorldGetERP}, {"dWorldSetCFM", (void **) &dWorldSetCFM}, // {"dWorldGetCFM", (void **) &dWorldGetCFM}, // {"dWorldStep", (void **) &dWorldStep}, // {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce}, {"dWorldQuickStep", (void **) &dWorldQuickStep}, {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations}, // {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations}, // {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW}, // {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW}, // {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel}, // {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel}, {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer}, // {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer}, // {"dWorldStepFast1", (void **) &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}, {"dBodyCreate", (void **) &dBodyCreate}, {"dBodyDestroy", (void **) &dBodyDestroy}, {"dBodySetData", (void **) &dBodySetData}, {"dBodyGetData", (void **) &dBodyGetData}, {"dBodySetPosition", (void **) &dBodySetPosition}, {"dBodySetRotation", (void **) &dBodySetRotation}, // {"dBodySetQuaternion", (void **) &dBodySetQuaternion}, {"dBodySetLinearVel", (void **) &dBodySetLinearVel}, {"dBodySetAngularVel", (void **) &dBodySetAngularVel}, {"dBodyGetPosition", (void **) &dBodyGetPosition}, // {"dBodyCopyPosition", (void **) &dBodyCopyPosition}, {"dBodyGetRotation", (void **) &dBodyGetRotation}, // {"dBodyCopyRotation", (void **) &dBodyCopyRotation}, // {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion}, // {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion}, {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel}, {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel}, {"dBodySetMass", (void **) &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}, {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints}, {"dBodyGetJoint", (void **) &dBodyGetJoint}, // {"dBodySetDynamic", (void **) &dBodySetDynamic}, // {"dBodySetKinematic", (void **) &dBodySetKinematic}, // {"dBodyIsKinematic", (void **) &dBodyIsKinematic}, {"dBodyEnable", (void **) &dBodyEnable}, {"dBodyDisable", (void **) &dBodyDisable}, {"dBodyIsEnabled", (void **) &dBodyIsEnabled}, {"dBodySetGravityMode", (void **) &dBodySetGravityMode}, {"dBodyGetGravityMode", (void **) &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}, {"dJointCreateBall", (void **) &dJointCreateBall}, {"dJointCreateHinge", (void **) &dJointCreateHinge}, {"dJointCreateSlider", (void **) &dJointCreateSlider}, {"dJointCreateContact", (void **) &dJointCreateContact}, {"dJointCreateHinge2", (void **) &dJointCreateHinge2}, {"dJointCreateUniversal", (void **) &dJointCreateUniversal}, // {"dJointCreatePR", (void **) &dJointCreatePR}, // {"dJointCreatePU", (void **) &dJointCreatePU}, // {"dJointCreatePiston", (void **) &dJointCreatePiston}, {"dJointCreateFixed", (void **) &dJointCreateFixed}, // {"dJointCreateNull", (void **) &dJointCreateNull}, // {"dJointCreateAMotor", (void **) &dJointCreateAMotor}, // {"dJointCreateLMotor", (void **) &dJointCreateLMotor}, // {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D}, {"dJointDestroy", (void **) &dJointDestroy}, {"dJointGroupCreate", (void **) &dJointGroupCreate}, {"dJointGroupDestroy", (void **) &dJointGroupDestroy}, {"dJointGroupEmpty", (void **) &dJointGroupEmpty}, // {"dJointGetNumBodies", (void **) &dJointGetNumBodies}, {"dJointAttach", (void **) &dJointAttach}, // {"dJointEnable", (void **) &dJointEnable}, // {"dJointDisable", (void **) &dJointDisable}, // {"dJointIsEnabled", (void **) &dJointIsEnabled}, {"dJointSetData", (void **) &dJointSetData}, {"dJointGetData", (void **) &dJointGetData}, // {"dJointGetType", (void **) &dJointGetType}, {"dJointGetBody", (void **) &dJointGetBody}, // {"dJointSetFeedback", (void **) &dJointSetFeedback}, // {"dJointGetFeedback", (void **) &dJointGetFeedback}, {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor}, // {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2}, {"dJointSetBallParam", (void **) &dJointSetBallParam}, {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor}, // {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta}, {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis}, // {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset}, {"dJointSetHingeParam", (void **) &dJointSetHingeParam}, // {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque}, {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis}, // {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta}, {"dJointSetSliderParam", (void **) &dJointSetSliderParam}, // {"dJointAddSliderForce", (void **) &dJointAddSliderForce}, {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor}, {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1}, {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2}, {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param}, // {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques}, {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor}, {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1}, // {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset}, {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2}, // {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset}, {"dJointSetUniversalParam", (void **) &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}, {"dAreConnected", (void **) &dAreConnected}, {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding}, {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate}, {"dHashSpaceCreate", (void **) &dHashSpaceCreate}, {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate}, // {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate}, {"dSpaceDestroy", (void **) &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}, {"dGeomDestroy", (void **) &dGeomDestroy}, {"dGeomSetData", (void **) &dGeomSetData}, {"dGeomGetData", (void **) &dGeomGetData}, {"dGeomSetBody", (void **) &dGeomSetBody}, {"dGeomGetBody", (void **) &dGeomGetBody}, {"dGeomSetPosition", (void **) &dGeomSetPosition}, {"dGeomSetRotation", (void **) &dGeomSetRotation}, // {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion}, // {"dGeomGetPosition", (void **) &dGeomGetPosition}, // {"dGeomCopyPosition", (void **) &dGeomCopyPosition}, // {"dGeomGetRotation", (void **) &dGeomGetRotation}, // {"dGeomCopyRotation", (void **) &dGeomCopyRotation}, // {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion}, // {"dGeomGetAABB", (void **) &dGeomGetAABB}, {"dGeomIsSpace", (void **) &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}, {"dCollide", (void **) &dCollide}, {"dSpaceCollide", (void **) &dSpaceCollide}, {"dSpaceCollide2", (void **) &dSpaceCollide2}, {"dCreateSphere", (void **) &dCreateSphere}, // {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius}, // {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius}, // {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth}, {"dCreateConvex", (void **) &dCreateConvex}, // {"dGeomSetConvex", (void **) &dGeomSetConvex}, {"dCreateBox", (void **) &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}, {"dCreateCapsule", (void **) &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}, {"dCreateGeomTransform", (void **) &dCreateGeomTransform}, {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom}, // {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom}, {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup}, // {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup}, // {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo}, // {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo}, {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate}, {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy}, // {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet}, // {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet}, // {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform}, // {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform}, {"dGeomTriMeshDataBuildSingle", (void **) &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}, {"dCreateTriMesh", (void **) &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 #endif static void World_Physics_Init(void) { #ifdef USEODE #ifdef ODE_DYNAMIC const char* dllnames [] = { # if defined(WIN32) "libode3.dll", "libode2.dll", "libode1.dll", # elif defined(MACOSX) "libode.3.dylib", "libode.2.dylib", "libode.1.dylib", # else "libode.so.3", "libode.so.2", "libode.so.1", # endif NULL }; #endif Cvar_RegisterVariable(&physics_ode_quadtree_depth); Cvar_RegisterVariable(&physics_ode_contactsurfacelayer); Cvar_RegisterVariable(&physics_ode_worldstep_iterations); Cvar_RegisterVariable(&physics_ode_contact_mu); Cvar_RegisterVariable(&physics_ode_contact_erp); Cvar_RegisterVariable(&physics_ode_contact_cfm); Cvar_RegisterVariable(&physics_ode_contact_maxpoints); Cvar_RegisterVariable(&physics_ode_world_erp); Cvar_RegisterVariable(&physics_ode_world_cfm); Cvar_RegisterVariable(&physics_ode_world_damping); Cvar_RegisterVariable(&physics_ode_world_damping_linear); Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold); Cvar_RegisterVariable(&physics_ode_world_damping_angular); Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold); Cvar_RegisterVariable(&physics_ode_world_gravitymod); Cvar_RegisterVariable(&physics_ode_iterationsperframe); Cvar_RegisterVariable(&physics_ode_constantstep); Cvar_RegisterVariable(&physics_ode_movelimit); Cvar_RegisterVariable(&physics_ode_spinlimit); Cvar_RegisterVariable(&physics_ode_trick_fixnan); Cvar_RegisterVariable(&physics_ode_autodisable); Cvar_RegisterVariable(&physics_ode_autodisable_steps); Cvar_RegisterVariable(&physics_ode_autodisable_time); Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear); Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular); Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples); Cvar_RegisterVariable(&physics_ode_printstats); Cvar_RegisterVariable(&physics_ode_allowconvex); Cvar_RegisterVariable(&physics_ode); #ifdef ODE_DYNAMIC // Load the DLL if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs)) #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_UnloadLibrary(&ode_dll); ode_dll = NULL; } else { # ifdef dSINGLE Con_Printf("ODE library loaded with single precision.\n"); # else Con_Printf("ODE library loaded with double precision.\n"); # endif Con_Printf("ODE configuration list: %s\n", dGetConfiguration()); } #endif } #endif } static void World_Physics_Shutdown(void) { #ifdef USEODE #ifdef ODE_DYNAMIC if (ode_dll) #endif { dCloseODE(); #ifdef ODE_DYNAMIC Sys_UnloadLibrary(&ode_dll); ode_dll = NULL; #endif } #endif } #ifdef USEODE static void World_Physics_UpdateODE(world_t *world) { dWorldID odeworld; odeworld = (dWorldID)world->physics.ode_world; // ERP and CFM if (physics_ode_world_erp.value >= 0) dWorldSetERP(odeworld, physics_ode_world_erp.value); if (physics_ode_world_cfm.value >= 0) dWorldSetCFM(odeworld, physics_ode_world_cfm.value); // Damping if (physics_ode_world_damping.integer) { dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0); dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0); dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0); dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0); } else { dWorldSetLinearDamping(odeworld, 0); dWorldSetLinearDampingThreshold(odeworld, 0); dWorldSetAngularDamping(odeworld, 0); dWorldSetAngularDampingThreshold(odeworld, 0); } // Autodisable dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0); if (physics_ode_autodisable.integer) { dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100)); dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value); dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100)); dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value); dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value); } } static void World_Physics_EnableODE(world_t *world) { dVector3 center, extents; if (world->physics.ode) return; #ifdef ODE_DYNAMIC if (!ode_dll) return; #endif world->physics.ode = true; VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center); VectorSubtract(world->maxs, center, extents); world->physics.ode_world = dWorldCreate(); world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10)); world->physics.ode_contactgroup = dJointGroupCreate(0); World_Physics_UpdateODE(world); } #endif static void World_Physics_Start(world_t *world) { #ifdef USEODE if (world->physics.ode) return; World_Physics_EnableODE(world); #endif } static void World_Physics_End(world_t *world) { #ifdef USEODE if (world->physics.ode) { dWorldDestroy((dWorldID)world->physics.ode_world); dSpaceDestroy((dSpaceID)world->physics.ode_space); dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup); world->physics.ode = false; } #endif } void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed) { ed->priv.server->ode_joint_type = 0; #ifdef USEODE if(ed->priv.server->ode_joint) dJointDestroy((dJointID)ed->priv.server->ode_joint); ed->priv.server->ode_joint = NULL; #endif } void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed) { edict_odefunc_t *f, *nf; // entity is not physics controlled, free any physics data ed->priv.server->ode_physics = false; #ifdef USEODE if (ed->priv.server->ode_geom) dGeomDestroy((dGeomID)ed->priv.server->ode_geom); ed->priv.server->ode_geom = NULL; if (ed->priv.server->ode_body) { dJointID j; dBodyID b1, b2; prvm_edict_t *ed2; while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body)) { j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0); ed2 = (prvm_edict_t *) dJointGetData(j); b1 = dJointGetBody(j, 0); b2 = dJointGetBody(j, 1); if(b1 == (dBodyID)ed->priv.server->ode_body) { b1 = 0; ed2->priv.server->ode_joint_enemy = 0; } if(b2 == (dBodyID)ed->priv.server->ode_body) { b2 = 0; ed2->priv.server->ode_joint_aiment = 0; } dJointAttach(j, b1, b2); } dBodyDestroy((dBodyID)ed->priv.server->ode_body); } ed->priv.server->ode_body = NULL; #endif if (ed->priv.server->ode_vertex3f) Mem_Free(ed->priv.server->ode_vertex3f); ed->priv.server->ode_vertex3f = NULL; ed->priv.server->ode_numvertices = 0; if (ed->priv.server->ode_element3i) Mem_Free(ed->priv.server->ode_element3i); ed->priv.server->ode_element3i = NULL; ed->priv.server->ode_numtriangles = 0; if(ed->priv.server->ode_massbuf) Mem_Free(ed->priv.server->ode_massbuf); ed->priv.server->ode_massbuf = NULL; // clear functions stack for(f = ed->priv.server->ode_func; f; f = nf) { nf = f->next; Mem_Free(f); } ed->priv.server->ode_func = NULL; } void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f) { dBodyID body = (dBodyID)ed->priv.server->ode_body; #ifdef USEODE switch(f->type) { case ODEFUNC_ENABLE: dBodyEnable(body); break; case ODEFUNC_DISABLE: dBodyDisable(body); break; case ODEFUNC_FORCE: dBodyEnable(body); dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]); break; case ODEFUNC_TORQUE: dBodyEnable(body); dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]); break; default: break; } #endif } #ifdef USEODE static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed) { prvm_prog_t *prog = world->prog; 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->priv.server->ode_body; int movetype; matrix4x4_t bodymatrix; matrix4x4_t entitymatrix; vec3_t angles; vec3_t avelocity; vec3_t forward, left, up; vec3_t origin; vec3_t spinvelocity; vec3_t velocity; int jointtype; if (!body) return; movetype = (int)PRVM_gameedictfloat(ed, movetype); if (movetype != MOVETYPE_PHYSICS) { jointtype = (int)PRVM_gameedictfloat(ed, jointtype); switch(jointtype) { // TODO feed back data from physics case JOINTTYPE_POINT: break; case JOINTTYPE_HINGE: break; case JOINTTYPE_SLIDER: break; case JOINTTYPE_UNIVERSAL: break; case JOINTTYPE_HINGE2: break; case JOINTTYPE_FIXED: break; } return; } // store the physics engine data into the entity o = dBodyGetPosition(body); r = dBodyGetRotation(body); vel = dBodyGetLinearVel(body); avel = dBodyGetAngularVel(body); VectorCopy(o, origin); forward[0] = r[0]; forward[1] = r[4]; forward[2] = r[8]; left[0] = r[1]; left[1] = r[5]; left[2] = r[9]; up[0] = r[2]; up[1] = r[6]; up[2] = r[10]; VectorCopy(vel, velocity); VectorCopy(avel, spinvelocity); Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin); Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix); Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin); AnglesFromVectors(angles, forward, up, false); VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW])); { float pitchsign = 1; if(prog == SVVM_prog) // FIXME some better way? { pitchsign = SV_GetPitchSign(prog, ed); } else if(prog == CLVM_prog) { pitchsign = CL_GetPitchSign(prog, ed); } angles[PITCH] *= pitchsign; avelocity[PITCH] *= pitchsign; } VectorCopy(origin, PRVM_gameedictvector(ed, origin)); VectorCopy(velocity, PRVM_gameedictvector(ed, velocity)); //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward)); //VectorCopy(left, PRVM_gameedictvector(ed, axis_left)); //VectorCopy(up, PRVM_gameedictvector(ed, axis_up)); //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity)); VectorCopy(angles, PRVM_gameedictvector(ed, angles)); VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity)); // values for BodyFromEntity to check if the qc modified anything later VectorCopy(origin, ed->priv.server->ode_origin); VectorCopy(velocity, ed->priv.server->ode_velocity); VectorCopy(angles, ed->priv.server->ode_angles); VectorCopy(avelocity, ed->priv.server->ode_avelocity); ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0; if(prog == SVVM_prog) // FIXME some better way? { SV_LinkEdict(ed); SV_LinkEdict_TouchAreaGrid(ed); } } static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed) { prvm_prog_t *prog = world->prog; int forcetype = 0, movetype = 0, enemy = 0; vec3_t movedir, origin; movetype = (int)PRVM_gameedictfloat(ed, movetype); forcetype = (int)PRVM_gameedictfloat(ed, forcetype); if (movetype == MOVETYPE_PHYSICS) forcetype = FORCETYPE_NONE; // can't have both if (!forcetype) return; enemy = PRVM_gameedictedict(ed, enemy); if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0) return; VectorCopy(PRVM_gameedictvector(ed, movedir), movedir); VectorCopy(PRVM_gameedictvector(ed, origin), origin); dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body); switch(forcetype) { case FORCETYPE_FORCE: if (movedir[0] || movedir[1] || movedir[2]) dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]); break; case FORCETYPE_FORCEATPOS: if (movedir[0] || movedir[1] || movedir[2]) dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]); break; case FORCETYPE_TORQUE: if (movedir[0] || movedir[1] || movedir[2]) dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]); break; case FORCETYPE_NONE: default: // bad force break; } } static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed) { prvm_prog_t *prog = world->prog; dJointID j = 0; dBodyID b1 = 0; dBodyID b2 = 0; int movetype = 0; int jointtype = 0; int enemy = 0, aiment = 0; vec3_t origin, velocity, angles, forward, left, up, movedir; vec_t CFM, ERP, FMax, Stop, Vel; movetype = (int)PRVM_gameedictfloat(ed, movetype); jointtype = (int)PRVM_gameedictfloat(ed, jointtype); VectorClear(origin); VectorClear(velocity); VectorClear(angles); VectorClear(movedir); enemy = PRVM_gameedictedict(ed, enemy); aiment = PRVM_gameedictedict(ed, aiment); VectorCopy(PRVM_gameedictvector(ed, origin), origin); VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); VectorCopy(PRVM_gameedictvector(ed, angles), angles); VectorCopy(PRVM_gameedictvector(ed, movedir), movedir); if(movetype == MOVETYPE_PHYSICS) jointtype = JOINTTYPE_NONE; // can't have both if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0) enemy = 0; if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->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->physics.ode_step * K + R); // always > 0 ERP = world->physics.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->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir)) return; // nothing to do AngleVectorsFLU(angles, forward, left, up); switch(jointtype) { case JOINTTYPE_POINT: j = dJointCreateBall((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_HINGE: j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_SLIDER: j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_UNIVERSAL: j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_HINGE2: j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_FIXED: j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0); break; case JOINTTYPE_NONE: default: // no joint j = 0; break; } if(ed->priv.server->ode_joint) { //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts)); dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0); dJointDestroy((dJointID)ed->priv.server->ode_joint); } ed->priv.server->ode_joint = (void *) j; ed->priv.server->ode_joint_type = jointtype; ed->priv.server->ode_joint_enemy = enemy; ed->priv.server->ode_joint_aiment = aiment; VectorCopy(origin, ed->priv.server->ode_joint_origin); VectorCopy(velocity, ed->priv.server->ode_joint_velocity); VectorCopy(angles, ed->priv.server->ode_joint_angles); VectorCopy(movedir, ed->priv.server->ode_joint_movedir); if(j) { //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts)); dJointSetData(j, (void *) ed); if(enemy) b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body; if(aiment) b2 = (dBodyID)prog->edicts[aiment].priv.server->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 } } // test convex geometry data // planes for a cube, these should coincide with the dReal test_convex_planes[] = { 1.0f ,0.0f ,0.0f ,2.25f, 0.0f ,1.0f ,0.0f ,2.25f, 0.0f ,0.0f ,1.0f ,2.25f, -1.0f,0.0f ,0.0f ,2.25f, 0.0f ,-1.0f,0.0f ,2.25f, 0.0f ,0.0f ,-1.0f,2.25f }; const unsigned int test_convex_planecount = 6; // points for a cube dReal test_convex_points[] = { 2.25f,2.25f,2.25f, // point 0 -2.25f,2.25f,2.25f, // point 1 2.25f,-2.25f,2.25f, // point 2 -2.25f,-2.25f,2.25f, // point 3 2.25f,2.25f,-2.25f, // point 4 -2.25f,2.25f,-2.25f, // point 5 2.25f,-2.25f,-2.25f, // point 6 -2.25f,-2.25f,-2.25f, // point 7 }; const unsigned int test_convex_pointcount = 8; // polygons for a cube (6 squares), index unsigned int test_convex_polygons[] = { 4,0,2,6,4, // positive X 4,1,0,4,5, // positive Y 4,0,1,3,2, // positive Z 4,3,1,5,7, // negative X 4,2,3,7,6, // negative Y 4,5,4,6,7, // negative Z }; static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed) { prvm_prog_t *prog = world->prog; const float *iv; const int *ie; dBodyID body; dMass mass; const dReal *ovelocity, *ospinvelocity; void *dataID; dp_model_t *model; float *ov; int *oe; int axisindex; int modelindex = 0; int movetype = MOVETYPE_NONE; int numtriangles; int numvertices; int solid = SOLID_NOT, geomtype = 0; int triangleindex; int vertexindex; mempool_t *mempool; 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; vec3_t scale; vec_t spinlimit; vec_t test; qboolean gravity; qboolean geom_modified = false; edict_odefunc_t *func, *nextf; dReal *planes, *planesData, *pointsData; unsigned int *polygons, *polygonsData, polyvert; qboolean *mapped, *used, convex_compatible; int numplanes = 0, numpoints = 0, i; #ifdef ODE_DYNAMIC if (!ode_dll) return; #endif VectorClear(entmins); VectorClear(entmaxs); solid = (int)PRVM_gameedictfloat(ed, solid); geomtype = (int)PRVM_gameedictfloat(ed, geomtype); movetype = (int)PRVM_gameedictfloat(ed, movetype); // support scale and q3map/radiant's modelscale_vec if (PRVM_gameedictvector(ed, modelscale_vec)[0] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[1] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[2] != 0.0) VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale); else if (PRVM_gameedictfloat(ed, scale)) VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale)); else VectorSet(scale, 1.0f, 1.0f, 1.0f); modelindex = 0; if (PRVM_gameedictfloat(ed, mass)) massval = PRVM_gameedictfloat(ed, mass); if (movetype != MOVETYPE_PHYSICS) massval = 1.0f; mempool = prog->progs_mempool; model = NULL; if (!geomtype) { // VorteX: keep support for deprecated solid fields to not break mods if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP) geomtype = GEOMTYPE_TRIMESH; else if (solid == SOLID_NOT || solid == SOLID_TRIGGER) geomtype = GEOMTYPE_NONE; else if (solid == SOLID_PHYSICS_SPHERE) geomtype = GEOMTYPE_SPHERE; else if (solid == SOLID_PHYSICS_CAPSULE) geomtype = GEOMTYPE_CAPSULE; else if (solid == SOLID_PHYSICS_CYLINDER) geomtype = GEOMTYPE_CYLINDER; else if (solid == SOLID_PHYSICS_BOX) geomtype = GEOMTYPE_BOX; else geomtype = GEOMTYPE_BOX; } if (geomtype == GEOMTYPE_TRIMESH) { modelindex = (int)PRVM_gameedictfloat(ed, modelindex); if (world == &sv.world) model = SV_GetModelByIndex(modelindex); else if (world == &cl.world) model = CL_GetModelByIndex(modelindex); else model = NULL; if (model) { entmins[0] = model->normalmins[0] * scale[0]; entmins[1] = model->normalmins[1] * scale[1]; entmins[2] = model->normalmins[2] * scale[2]; entmaxs[0] = model->normalmaxs[0] * scale[0]; entmaxs[1] = model->normalmaxs[1] * scale[1]; entmaxs[2] = model->normalmaxs[2] * scale[2]; geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex; } else { Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); geomtype = GEOMTYPE_BOX; VectorCopy(PRVM_gameedictvector(ed, mins), entmins); VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); modelindex = 0; geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs); } } else if (geomtype && geomtype != GEOMTYPE_NONE) { VectorCopy(PRVM_gameedictvector(ed, mins), entmins); VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs); geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs); } else { // geometry type not set, falling back if (ed->priv.server->ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } VectorSubtract(entmaxs, entmins, geomsize); if (VectorLength2(geomsize) == 0) { // we don't allow point-size physics objects... if (ed->priv.server->ode_physics) World_Physics_RemoveFromEntity(world, ed); return; } // get friction ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f; // check if we need to create or replace the geom if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified) { modified = true; World_Physics_RemoveFromEntity(world, ed); ed->priv.server->ode_physics = true; VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter); if (PRVM_gameedictvector(ed, massofs)) VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs)); // check geomsize if (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", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } // greate geom switch(geomtype) { case GEOMTYPE_TRIMESH: // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces if (!model->brush.collisionmesh) Mod_CreateCollisionMesh(model); if (!model->brush.collisionmesh) { Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname))); goto treatasbox; } // check if trimesh can be defined with convex convex_compatible = false; for (i = 0;i < model->nummodelsurfaces;i++) { if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex")) { convex_compatible = true; break; } } // ODE requires persistent mesh storage, so we need to copy out // the data from the model because renderer restarts could free it // during the game, additionally we need to flip the triangles... // note: ODE does preprocessing of the mesh for culling, removing // concave edges, etc., so this is not a lightweight operation ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts; ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3])); // VorteX: rebuild geomsize based on entity's collision mesh, honor scale VectorSet(entmins, 0, 0, 0); VectorSet(entmaxs, 0, 0, 0); for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3) { ov[0] = iv[0] * scale[0]; ov[1] = iv[1] * scale[1]; ov[2] = iv[2] * scale[2]; entmins[0] = min(entmins[0], ov[0]); entmins[1] = min(entmins[1], ov[1]); entmins[2] = min(entmins[2], ov[2]); entmaxs[0] = max(entmaxs[0], ov[0]); entmaxs[1] = max(entmaxs[1], ov[1]); entmaxs[2] = max(entmaxs[2], ov[2]); } if (!PRVM_gameedictvector(ed, massofs)) VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter); for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3) { ov[0] = ov[0] - geomcenter[0]; ov[1] = ov[1] - geomcenter[1]; ov[2] = ov[2] - geomcenter[2]; } VectorSubtract(entmaxs, entmins, geomsize); if (VectorLength2(geomsize) == 0) { if (movetype == MOVETYPE_PHYSICS) Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed)); VectorSet(geomsize, 1.0f, 1.0f, 1.0f); } ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles; ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3])); //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3])); for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3) { oe[0] = ie[2]; oe[1] = ie[1]; oe[2] = ie[0]; } // create geom Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); if (!convex_compatible || !physics_ode_allowconvex.integer) { // trimesh dataID = dGeomTriMeshDataCreate(); dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3])); ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); } else { // VorteX: this code is unfinished in two ways // - no duplicate vertex merging are done // - triangles that shares same edge and havee sam plane are not merget into poly // so, currently it only works for geosphere meshes with no UV Con_Printf("Build convex hull for model %s...\n", model->name); // build convex geometry from trimesh data // this ensures that trimesh's triangles can form correct convex geometry // not many of error checking is performed // ODE's conve hull data consist of: // planes : an array of planes in the form: normal X, normal Y, normal Z, distance // points : an array of points X,Y,Z // polygons: an array of indices to the points of each polygon,it should be the number of vertices // followed by that amount of indices to "points" in counter clockwise order polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4); planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4); mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean)); used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean)); memset(mapped, 0, numvertices*sizeof(qboolean)); memset(used, 0, numtriangles*sizeof(qboolean)); numplanes = numpoints = polyvert = 0; // build convex hull // todo: merge duplicated verts here Con_Printf("Building...\n"); iv = ed->priv.server->ode_vertex3f; for (triangleindex = 0; triangleindex < numtriangles; triangleindex++) { // already formed a polygon? if (used[triangleindex]) continue; // init polygon // switch clockwise->counterclockwise ie = &model->brush.collisionmesh->element3i[triangleindex*3]; used[triangleindex] = true; TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes); VectorNormalize(planes); polygons[0] = 3; polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true; polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true; polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true; // now find and include concave triangles for (i = triangleindex; i < numtriangles; i++) { if (used[i]) continue; // should share at least 2 vertexes for (polyvert = 1; polyvert <= polygons[0]; polyvert++) { // todo: merge in triangles that shares an edge and have same plane here } } // add polygon to overall stats planes[3] = DotProduct(&iv[polygons[1]*3], planes); polygons += (polygons[0]+1); planes += 4; numplanes++; } Mem_Free(used); // save points for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++) if (mapped[vertexindex]) numpoints++; pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++) { if (mapped[vertexindex]) { VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]); numpoints++; } } Mem_Free(mapped); Con_Printf("Points: \n"); for (i = 0; i < (int)numpoints; i++) Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]); // save planes planes = planesData; planesData = pointsData + numpoints*3; memcpy(planesData, planes, numplanes*sizeof(dReal)*4); Mem_Free(planes); Con_Printf("planes...\n"); for (i = 0; i < numplanes; i++) Con_Printf("%3i: %1.1f %1.1f %1.1f %1.1f\n", i, planesData[i*4], planesData[i*4 + 1], planesData[i*4 + 2], planesData[i*4 + 3]); // save polygons polyvert = polygons - polygonsData; polygons = polygonsData; polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int)); memcpy(polygonsData, polygons, polyvert*sizeof(int)); Mem_Free(polygons); Con_Printf("Polygons: \n"); polygons = polygonsData; for (i = 0; i < numplanes; i++) { Con_Printf("%3i : %i ", i, polygons[0]); for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++) Con_Printf("%3i ", polygons[triangleindex]); polygons += (polygons[0]+1); Con_Printf("\n"); } Mem_Free(ed->priv.server->ode_element3i); ed->priv.server->ode_element3i = (int *)polygonsData; Mem_Free(ed->priv.server->ode_vertex3f); ed->priv.server->ode_vertex3f = (float *)pointsData; // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon // this code is picked from ODE Source Con_Printf("Check...\n"); polygons = polygonsData; for (i = 0; i < numplanes; i++) { if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] + pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] + pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] - pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] - pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] - pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0) Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i); if (planesData[(i*4)+3] < 0) Con_Printf("WARNING: Plane %d does not contain the origin\n", i); polygons += (*polygons + 1); } // create geom Con_Printf("Create geom...\n"); ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); Con_Printf("Done!\n"); } break; case GEOMTYPE_BOX: treatasbox: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]); dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]); break; case GEOMTYPE_SPHERE: Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]); ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f); dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f); break; case GEOMTYPE_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 if (axisindex == 0) { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); radius = min(geomsize[1], geomsize[2]) * 0.5f; } else if (axisindex == 1) { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); radius = min(geomsize[0], geomsize[2]) * 0.5f; } else { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = min(geomsize[0], geomsize[1]) * 0.5f; } 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->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length); break; case GEOMTYPE_CAPSULE_X: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); radius = min(geomsize[1], geomsize[2]) * 0.5f; length = geomsize[0] - radius*2; // check if length is not enough, reduce radius then if (length <= 0) { radius -= (1 - length)*0.5; length = 1; } ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, 1, radius, length); break; case GEOMTYPE_CAPSULE_Y: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); radius = min(geomsize[0], geomsize[2]) * 0.5f; length = geomsize[1] - radius*2; // check if length is not enough, reduce radius then if (length <= 0) { radius -= (1 - length)*0.5; length = 1; } ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, 2, radius, length); break; case GEOMTYPE_CAPSULE_Z: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = min(geomsize[1], geomsize[0]) * 0.5f; length = geomsize[2] - radius*2; // check if length is not enough, reduce radius then if (length <= 0) { radius -= (1 - length)*0.5; length = 1; } ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length); dMassSetCapsuleTotal(&mass, massval, 3, radius, length); break; case GEOMTYPE_CYLINDER: 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 if (axisindex == 0) { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); radius = min(geomsize[1], geomsize[2]) * 0.5f; } else if (axisindex == 1) { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); radius = min(geomsize[0], geomsize[2]) * 0.5f; } else { Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = min(geomsize[0], geomsize[1]) * 0.5f; } length = geomsize[axisindex]; // check if length is not enough, reduce radius then if (length <= 0) { radius -= (1 - length)*0.5; length = 1; } ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length); break; case GEOMTYPE_CYLINDER_X: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1); radius = min(geomsize[1], geomsize[2]) * 0.5f; length = geomsize[0]; ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); dMassSetCylinderTotal(&mass, massval, 1, radius, length); break; case GEOMTYPE_CYLINDER_Y: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1); radius = min(geomsize[0], geomsize[2]) * 0.5f; length = geomsize[1]; ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); dMassSetCylinderTotal(&mass, massval, 2, radius, length); break; case GEOMTYPE_CYLINDER_Z: Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1); radius = min(geomsize[0], geomsize[1]) * 0.5f; length = geomsize[2]; ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length); dMassSetCylinderTotal(&mass, massval, 3, radius, length); break; default: Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid); // this goto only exists to prevent warnings from the compiler // about uninitialized variables (mass), while allowing it to // catch legitimate uninitialized variable warnings goto treatasbox; } ed->priv.server->ode_mass = massval; ed->priv.server->ode_modelindex = modelindex; VectorCopy(entmins, ed->priv.server->ode_mins); VectorCopy(entmaxs, ed->priv.server->ode_maxs); VectorCopy(scale, ed->priv.server->ode_scale); ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2])); Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix); ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass)); memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass)); } if (ed->priv.server->ode_geom) dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed); if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom) { // entity is dynamic if (ed->priv.server->ode_body == NULL) { ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world)); dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body); dBodySetData(body, (void*)ed); dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf); modified = true; } } else { // entity is deactivated if (ed->priv.server->ode_body != NULL) { if(ed->priv.server->ode_geom) dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); dBodyDestroy((dBodyID) ed->priv.server->ode_body); ed->priv.server->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(PRVM_gameedictvector(ed, origin), origin); VectorCopy(PRVM_gameedictvector(ed, velocity), velocity); //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward); //VectorCopy(PRVM_gameedictvector(ed, axis_left), left); //VectorCopy(PRVM_gameedictvector(ed, axis_up), up); //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity); VectorCopy(PRVM_gameedictvector(ed, angles), angles); VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity); if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false; if (ed == prog->edicts) gravity = false; // compatibility for legacy entities //if (!VectorLength2(forward) || solid == SOLID_BSP) { float pitchsign = 1; vec3_t qangles, qavelocity; VectorCopy(angles, qangles); VectorCopy(avelocity, qavelocity); if(prog == SVVM_prog) // FIXME some better way? { pitchsign = SV_GetPitchSign(prog, ed); } else if(prog == CLVM_prog) { pitchsign = CL_GetPitchSign(prog, ed); } qangles[PITCH] *= pitchsign; qavelocity[PITCH] *= pitchsign; 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... if (physics_ode_trick_fixnan.integer) { test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity); if (VEC_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_gameedictstring(ed, classname)), 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]); if (physics_ode_trick_fixnan.integer >= 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", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, 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 = VectorLength2(origin); if (VEC_IS_NAN(test)) VectorClear(origin); test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up); if (VEC_IS_NAN(test)) { VectorSet(angles, 0, 0, 0); VectorSet(forward, 1, 0, 0); VectorSet(left, 0, 1, 0); VectorSet(up, 0, 0, 1); } test = VectorLength2(velocity); if (VEC_IS_NAN(test)) VectorClear(velocity); test = VectorLength2(spinvelocity); if (VEC_IS_NAN(test)) { VectorClear(avelocity); VectorClear(spinvelocity); } } } // check if the qc edited any position data if (!VectorCompare(origin, ed->priv.server->ode_origin) || !VectorCompare(velocity, ed->priv.server->ode_velocity) || !VectorCompare(angles, ed->priv.server->ode_angles) || !VectorCompare(avelocity, ed->priv.server->ode_avelocity) || gravity != ed->priv.server->ode_gravity) modified = true; // store the qc values into the physics engine body = (dBodyID)ed->priv.server->ode_body; if (modified && ed->priv.server->ode_geom) { dVector3 r[3]; matrix4x4_t entitymatrix; matrix4x4_t bodymatrix; #if 0 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts)); if(!VectorCompare(origin, ed->priv.server->ode_origin)) Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]); if(!VectorCompare(velocity, ed->priv.server->ode_velocity)) Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]); if(!VectorCompare(angles, ed->priv.server->ode_angles)) Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]); if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity)) Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]); if(gravity != ed->priv.server->ode_gravity) Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity); #endif // values for BodyFromEntity to check if the qc modified anything later VectorCopy(origin, ed->priv.server->ode_origin); VectorCopy(velocity, ed->priv.server->ode_velocity); VectorCopy(angles, ed->priv.server->ode_angles); VectorCopy(avelocity, ed->priv.server->ode_avelocity); ed->priv.server->ode_gravity = gravity; Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin); Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix); Matrix4x4_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((dGeomID)ed->priv.server->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((dGeomID)ed->priv.server->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((dGeomID)ed->priv.server->ode_geom, 0); } } else { // no body... then let's adjust the parameters of the geom directly dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen) dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]); dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]); } } if (body) { // limit movement speed to prevent missed collisions at high speed ovelocity = dBodyGetLinearVel(body); ospinvelocity = dBodyGetAngularVel(body); movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit; test = VectorLength2(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 = VectorLength2(ospinvelocity); if (test > spinlimit) { dBodySetAngularVel(body, 0, 0, 0); } // apply functions and clear stack for(func = ed->priv.server->ode_func; func; func = nextf) { nextf = func->next; World_Physics_ApplyCmd(ed, func); Mem_Free(func); } ed->priv.server->ode_func = NULL; } } #define MAX_CONTACTS 32 static void nearCallback (void *data, dGeomID o1, dGeomID o2) { world_t *world = (world_t *)data; prvm_prog_t *prog = world->prog; dContact contact[MAX_CONTACTS]; // max contacts per collision pair int b1enabled = 0, b2enabled = 0; dBodyID b1, b2; dJointID c; int i; int numcontacts; float bouncefactor1 = 0.0f; float bouncestop1 = 60.0f / 800.0f; float bouncefactor2 = 0.0f; float bouncestop2 = 60.0f / 800.0f; float erp; dVector3 grav; prvm_edict_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); if (b1) b1enabled = dBodyIsEnabled(b1); b2 = dGeomGetBody(o2); if (b2) b2enabled = dBodyIsEnabled(b2); // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care if (!b1enabled && !b2enabled) return; // exit without doing anything if the two bodies are connected by a joint if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) return; ed1 = (prvm_edict_t *) dGeomGetData(o1); if(ed1 && ed1->priv.server->free) ed1 = NULL; if(ed1) { bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor); bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop); if (!bouncestop1) bouncestop1 = 60.0f / 800.0f; } ed2 = (prvm_edict_t *) dGeomGetData(o2); if(ed2 && ed2->priv.server->free) ed2 = NULL; if(ed2) { bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor); bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop); if (!bouncestop2) bouncestop2 = 60.0f / 800.0f; } if(prog == SVVM_prog) { if(ed1 && PRVM_serveredictfunction(ed1, touch)) { SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts); } if(ed2 && PRVM_serveredictfunction(ed2, touch)) { SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts); } } // 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((dWorldID)world->physics.ode_world, grav); bouncestop1 *= fabs(grav[2]); // get erp // select object that moves faster ang get it's erp erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp); // get max contact points for this collision numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts); if (!numcontacts) numcontacts = physics_ode_contact_maxpoints.integer; if (PRVM_gameedictfloat(ed2, maxcontacts)) numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts)); else numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer); // generate contact points between the two non-space geoms numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0])); // add these contact points to the simulation for (i = 0;i < numcontacts;i++) { contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0); contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction; contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp; contact[i].surface.soft_cfm = physics_ode_contact_cfm.value; contact[i].surface.bounce = bouncefactor1; contact[i].surface.bounce_vel = bouncestop1; c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i); dJointAttach(c, b1, b2); } } #endif float GetSysTicrate(); void World_Physics_Frame(world_t *world, double frametime, double gravity) { prvm_prog_t *prog = world->prog; double tdelta, tdelta2, tdelta3, simulationtime, collisiontime; tdelta = Sys_DirtyTime(); #ifdef USEODE if (world->physics.ode && physics_ode.integer) { int i; prvm_edict_t *ed; if (!physics_ode_constantstep.value) { world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000); world->physics.ode_step = frametime / world->physics.ode_iterations; } else { world->physics.ode_time += frametime; // step size if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1) world->physics.ode_step = physics_ode_constantstep.value; else world->physics.ode_step = GetSysTicrate(); if (world->physics.ode_time > 0.2f) world->physics.ode_time = world->physics.ode_step; // set number of iterations to process world->physics.ode_iterations = 0; while(world->physics.ode_time >= world->physics.ode_step) { world->physics.ode_iterations++; world->physics.ode_time -= world->physics.ode_step; } } world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step; World_Physics_UpdateODE(world); // copy physics properties from entities to physics engine if (prog) { for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) if (!prog->edicts[i].priv.required->free) World_Physics_Frame_BodyFromEntity(world, ed); // oh, and it must be called after all bodies were created for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) if (!prog->edicts[i].priv.required->free) World_Physics_Frame_JointFromEntity(world, ed); } tdelta2 = Sys_DirtyTime(); collisiontime = 0; for (i = 0;i < world->physics.ode_iterations;i++) { // set the gravity dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value); // set the tolerance for closeness of objects dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value)); // run collisions for the current world state, creating JointGroup tdelta3 = Sys_DirtyTime(); dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback); collisiontime += (Sys_DirtyTime() - tdelta3)*10000; // apply forces if (prog) { int j; for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++) if (!prog->edicts[j].priv.required->free) World_Physics_Frame_ForceFromEntity(world, ed); } // run physics (move objects, calculate new velocities) // be sure not to pass 0 as step time because that causes an ODE error dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200)); if (world->physics.ode_step > 0) dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step); // clear the JointGroup now that we're done with it dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup); } simulationtime = (Sys_DirtyTime() - tdelta2)*10000; // copy physics properties from physics engine to entities and do some stats if (prog) { for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) if (!prog->edicts[i].priv.required->free) World_Physics_Frame_BodyToEntity(world, ed); // print stats if (physics_ode_printstats.integer) { dBodyID body; world->physics.ode_numobjects = 0; world->physics.ode_activeovjects = 0; for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++) { if (prog->edicts[i].priv.required->free) continue; body = (dBodyID)prog->edicts[i].priv.server->ode_body; if (!body) continue; world->physics.ode_numobjects++; if (dBodyIsEnabled(body)) world->physics.ode_activeovjects++; } Con_Printf("ODE Stats(%s): %i iterations, %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, world->physics.ode_iterations, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects)); } } } #endif }