DarkPlaces
Game engine based on the Quake 1 engine by id Software, developed by LadyHavoc
 
world.c
Go to the documentation of this file.
1/*
2Copyright (C) 1996-1997 Id Software, Inc.
3
4This program is free software; you can redistribute it and/or
5modify it under the terms of the GNU General Public License
6as published by the Free Software Foundation; either version 2
7of the License, or (at your option) any later version.
8
9This program is distributed in the hope that it will be useful,
10but WITHOUT ANY WARRANTY; without even the implied warranty of
11MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
12
13See the GNU General Public License for more details.
14
15You should have received a copy of the GNU General Public License
16along with this program; if not, write to the Free Software
17Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
18
19*/
20// world.c -- world query functions
21
22#include "quakedef.h"
23#include "clvm_cmds.h"
24#include "cl_collision.h"
25#include "com_list.h"
26
27/*
28
29entities never clip against themselves, or their owner
30
31line of sight checks trace->inopen and trace->inwater, but bullets don't
32
33*/
34
35#ifdef USEODE
36static void World_Physics_Init(void);
37#endif
38void World_Init(void)
39{
40 Collision_Init();
41#ifdef USEODE
42 World_Physics_Init();
43#endif
44}
45
46#ifdef USEODE
47static void World_Physics_Shutdown(void);
48#endif
49void World_Shutdown(void)
50{
51#ifdef USEODE
52 World_Physics_Shutdown();
53#endif
54}
55
56#ifdef USEODE
57static void World_Physics_Start(world_t *world);
58#endif
59void World_Start(world_t *world)
60{
61#ifdef USEODE
62 World_Physics_Start(world);
63#endif
64}
65
66#ifdef USEODE
67static void World_Physics_End(world_t *world);
68#endif
69void World_End(world_t *world)
70{
71#ifdef USEODE
72 World_Physics_End(world);
73#endif
74}
75
76//============================================================================
77
79void World_ClearLink (link_t *l)
80{
81 l->entitynumber = 0;
82 l->list.prev = l->list.next = &l->list;
83}
84
85void World_RemoveLink (link_t *l)
86{
87 List_Delete(&l->list);
88}
89
90void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
91{
92 l->entitynumber = entitynumber;
93 List_Add_Tail(&l->list, &before->list);
94}
95
96/*
97===============================================================================
98
99ENTITY AREA CHECKING
100
101===============================================================================
102*/
103
104void World_PrintAreaStats(world_t *world, const char *worldname)
105{
106 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);
107 world->areagrid_stats_calls = 0;
108 world->areagrid_stats_nodechecks = 0;
109 world->areagrid_stats_entitychecks = 0;
110}
111
112/*
113===============
114World_SetSize
115
116===============
117*/
118void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
119{
120 int i;
121
122 dp_strlcpy(world->filename, filename, sizeof(world->filename));
123 VectorCopy(mins, world->mins);
124 VectorCopy(maxs, world->maxs);
125 world->prog = prog;
126
127 // the areagrid_marknumber is not allowed to be 0
128 if (world->areagrid_marknumber < 1)
129 world->areagrid_marknumber = 1;
130 // choose either the world box size, or a larger box to ensure the grid isn't too fine
131 world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
132 world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
133 world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
134 // figure out the corners of such a box, centered at the center of the world box
135 world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
136 world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
137 world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
138 world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
139 world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
140 world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
141 // now calculate the actual useful info from that
142 VectorNegate(world->areagrid_mins, world->areagrid_bias);
143 world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
144 world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
145 world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
146 World_ClearLink(&world->areagrid_outside);
147 for (i = 0;i < AREA_GRIDNODES;i++)
148 World_ClearLink(&world->areagrid[i]);
149 if (developer_extra.integer)
150 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);
151}
152
153/*
154===============
155World_UnlinkAll
156
157===============
158*/
159void World_UnlinkAll(world_t *world)
160{
161 prvm_prog_t *prog = world->prog;
162 int i;
163 link_t *grid;
164 // unlink all entities one by one
165 grid = &world->areagrid_outside;
166 while (grid->list.next != &grid->list)
167 World_UnlinkEdict(PRVM_EDICT_NUM(List_Entry(grid->list.next, link_t, list)->entitynumber));
168 for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
169 while (grid->list.next != &grid->list)
170 World_UnlinkEdict(PRVM_EDICT_NUM(List_Entry(grid->list.next, link_t, list)->entitynumber));
171}
172
173/*
174===============
175
176===============
177*/
178void World_UnlinkEdict(prvm_edict_t *ent)
179{
180 int i;
181 for (i = 0;i < ENTITYGRIDAREAS;i++)
182 {
183 if (ent->priv.server->areagrid[i].list.prev)
184 World_RemoveLink (&ent->priv.server->areagrid[i]);
185 }
186}
187
188int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
189{
190 prvm_prog_t *prog = world->prog;
191 int numlist;
192 link_t *grid;
193 link_t *l;
194 prvm_edict_t *ent;
195 vec3_t paddedmins, paddedmaxs;
196 int igrid[3], igridmins[3], igridmaxs[3];
197
198 // avoid crash in showtex code on level change
199 if (prog == NULL || prog->num_edicts < 1)
200 return 0;
201
202 // LadyHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination)
203 //VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
204 //VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
205 VectorCopy(requestmins, paddedmins);
206 VectorCopy(requestmaxs, paddedmaxs);
207
208 // FIXME: if areagrid_marknumber wraps, all entities need their
209 // ent->priv.server->areagridmarknumber reset
210 world->areagrid_stats_calls++;
211 world->areagrid_marknumber++;
212 igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
213 igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
214 //igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
215 igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
216 igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
217 //igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
218 igridmins[0] = max(0, igridmins[0]);
219 igridmins[1] = max(0, igridmins[1]);
220 //igridmins[2] = max(0, igridmins[2]);
221 igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
222 igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
223 //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
224
225 // paranoid debugging
226 //VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
227
228 numlist = 0;
229 // add entities not linked into areagrid because they are too big or
230 // outside the grid bounds
231 if (world->areagrid_outside.list.next)
232 {
233 grid = &world->areagrid_outside;
234 List_For_Each_Entry(l, &grid->list, link_t, list)
235 {
236 ent = PRVM_EDICT_NUM(l->entitynumber);
237 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
238 {
239 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
240 if (!ent->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
241 {
242 if (numlist < maxlist)
243 list[numlist] = ent;
244 numlist++;
245 }
246 world->areagrid_stats_entitychecks++;
247 }
248 }
249 }
250 // add grid linked entities
251 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
252 {
253 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
254 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
255 {
256 if (grid->list.next)
257 {
258 List_For_Each_Entry(l, &grid->list, link_t, list)
259 {
260 ent = PRVM_EDICT_NUM(l->entitynumber);
261 if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
262 {
263 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
264 if (!ent->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
265 {
266 if (numlist < maxlist)
267 list[numlist] = ent;
268 numlist++;
269 }
270 //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]);
271 }
272 world->areagrid_stats_entitychecks++;
273 }
274 }
275 }
276 }
277 return numlist;
278}
279
280static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
281{
282 prvm_prog_t *prog = world->prog;
283 link_t *grid;
284 int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
285
286 if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
287 {
288 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);
289 return;
290 }
291
292 igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
293 igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
294 //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
295 igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
296 igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
297 //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
298 if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
299 {
300 // wow, something outside the grid, store it as such
301 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
302 return;
303 }
304
305 gridnum = 0;
306 for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
307 {
308 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
309 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
310 World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
311 }
312}
313
314/*
315===============
316World_LinkEdict
317
318===============
319*/
320void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs, qbool link_solid_not)
321{
322 prvm_prog_t *prog = world->prog;
323 // unlink from old position first
324 if (ent->priv.server->areagrid[0].list.prev)
325 World_UnlinkEdict(ent);
326
327 // some games don't want SOLID_NOT entities linked
328 if (!link_solid_not && PRVM_serveredictfloat(ent, solid) == SOLID_NOT)
329 return;
330
331 // don't add the world
332 if (ent == prog->edicts)
333 return;
334
335 // don't add free entities
336 if (ent->free)
337 return;
338
339 VectorCopy(mins, ent->priv.server->areamins);
340 VectorCopy(maxs, ent->priv.server->areamaxs);
341 World_LinkEdict_AreaGrid(world, ent);
342}
343
344
345
346
347//============================================================================
348// physics engine support
349//============================================================================
350
351#ifdef USEODE
352cvar_t physics_ode_quadtree_depth = {CF_CLIENT | CF_SERVER, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
353cvar_t physics_ode_allowconvex = {CF_CLIENT | CF_SERVER, "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."};
354cvar_t physics_ode_contactsurfacelayer = {CF_CLIENT | CF_SERVER, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
355cvar_t physics_ode_worldstep_iterations = {CF_CLIENT | CF_SERVER, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
356cvar_t physics_ode_contact_mu = {CF_CLIENT | CF_SERVER, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
357cvar_t physics_ode_contact_erp = {CF_CLIENT | CF_SERVER, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
358cvar_t physics_ode_contact_cfm = {CF_CLIENT | CF_SERVER, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
359cvar_t physics_ode_contact_maxpoints = {CF_CLIENT | CF_SERVER, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"};
360cvar_t physics_ode_world_erp = {CF_CLIENT | CF_SERVER, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
361cvar_t physics_ode_world_cfm = {CF_CLIENT | CF_SERVER, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
362cvar_t physics_ode_world_damping = {CF_CLIENT | CF_SERVER, "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"};
363cvar_t physics_ode_world_damping_linear = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
364cvar_t physics_ode_world_damping_linear_threshold = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
365cvar_t physics_ode_world_damping_angular = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
366cvar_t physics_ode_world_damping_angular_threshold = {CF_CLIENT | CF_SERVER, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
367cvar_t physics_ode_world_gravitymod = {CF_CLIENT | CF_SERVER, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
368cvar_t physics_ode_iterationsperframe = {CF_CLIENT | CF_SERVER, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
369cvar_t physics_ode_constantstep = {CF_CLIENT | CF_SERVER, "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"};
370cvar_t physics_ode_autodisable = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
371cvar_t physics_ode_autodisable_steps = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
372cvar_t physics_ode_autodisable_time = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
373cvar_t physics_ode_autodisable_threshold_linear = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"};
374cvar_t physics_ode_autodisable_threshold_angular = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"};
375cvar_t physics_ode_autodisable_threshold_samples = {CF_CLIENT | CF_SERVER, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
376cvar_t physics_ode_movelimit = {CF_CLIENT | CF_SERVER, "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"};
377cvar_t physics_ode_spinlimit = {CF_CLIENT | CF_SERVER, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
378cvar_t physics_ode_trick_fixnan = {CF_CLIENT | CF_SERVER, "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"};
379cvar_t physics_ode_printstats = {CF_CLIENT | CF_SERVER, "physics_ode_printstats", "0", "print ODE stats each frame"};
380
381cvar_t physics_ode = {CF_CLIENT | CF_SERVER, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
382
383// LadyHavoc: this large chunk of definitions comes from the ODE library
384// include files.
385
386#ifdef LINK_TO_LIBODE
387#include "ode/ode.h"
388#else
389#ifdef WINAPI
390// ODE does not use WINAPI
391#define ODE_API
392#else
393#define ODE_API
394#endif
395
396// note: dynamic builds of ODE tend to be double precision, this is not used
397// for static builds
398typedef double dReal;
399
400typedef dReal dVector3[4];
401typedef dReal dVector4[4];
402typedef dReal dMatrix3[4*3];
403typedef dReal dMatrix4[4*4];
404typedef dReal dMatrix6[8*6];
405typedef dReal dQuaternion[4];
406
407struct dxWorld; /* dynamics world */
408struct dxSpace; /* collision space */
409struct dxBody; /* rigid body (dynamics object) */
410struct dxGeom; /* geometry (collision object) */
411struct dxJoint;
412struct dxJointNode;
413struct dxJointGroup;
414struct dxTriMeshData;
415
416#define dInfinity 3.402823466e+38f
417
418typedef struct dxWorld *dWorldID;
419typedef struct dxSpace *dSpaceID;
420typedef struct dxBody *dBodyID;
421typedef struct dxGeom *dGeomID;
422typedef struct dxJoint *dJointID;
423typedef struct dxJointGroup *dJointGroupID;
424typedef struct dxTriMeshData *dTriMeshDataID;
425
426typedef struct dJointFeedback
427{
428 dVector3 f1; /* force applied to body 1 */
429 dVector3 t1; /* torque applied to body 1 */
430 dVector3 f2; /* force applied to body 2 */
431 dVector3 t2; /* torque applied to body 2 */
432}
433dJointFeedback;
434
435typedef enum dJointType
436{
437 dJointTypeNone = 0,
438 dJointTypeBall,
439 dJointTypeHinge,
440 dJointTypeSlider,
441 dJointTypeContact,
442 dJointTypeUniversal,
443 dJointTypeHinge2,
444 dJointTypeFixed,
445 dJointTypeNull,
446 dJointTypeAMotor,
447 dJointTypeLMotor,
448 dJointTypePlane2D,
449 dJointTypePR,
450 dJointTypePU,
451 dJointTypePiston
452}
453dJointType;
454
455#define D_ALL_PARAM_NAMES(start) \
456 /* parameters for limits and motors */ \
457 dParamLoStop = start, \
458 dParamHiStop, \
459 dParamVel, \
460 dParamFMax, \
461 dParamFudgeFactor, \
462 dParamBounce, \
463 dParamCFM, \
464 dParamStopERP, \
465 dParamStopCFM, \
466 /* parameters for suspension */ \
467 dParamSuspensionERP, \
468 dParamSuspensionCFM, \
469 dParamERP, \
470
471#define D_ALL_PARAM_NAMES_X(start,x) \
472 /* parameters for limits and motors */ \
473 dParamLoStop ## x = start, \
474 dParamHiStop ## x, \
475 dParamVel ## x, \
476 dParamFMax ## x, \
477 dParamFudgeFactor ## x, \
478 dParamBounce ## x, \
479 dParamCFM ## x, \
480 dParamStopERP ## x, \
481 dParamStopCFM ## x, \
482 /* parameters for suspension */ \
483 dParamSuspensionERP ## x, \
484 dParamSuspensionCFM ## x, \
485 dParamERP ## x,
486
487enum {
488 D_ALL_PARAM_NAMES(0)
489 D_ALL_PARAM_NAMES_X(0x100,2)
490 D_ALL_PARAM_NAMES_X(0x200,3)
491
492 /* add a multiple of this constant to the basic parameter numbers to get
493 * the parameters for the second, third etc axes.
494 */
495 dParamGroup=0x100
496};
497
498typedef struct dMass
499{
500 dReal mass;
501 dVector3 c;
502 dMatrix3 I;
503}
504dMass;
505
506enum
507{
508 dContactMu2 = 0x001,
509 dContactFDir1 = 0x002,
510 dContactBounce = 0x004,
511 dContactSoftERP = 0x008,
512 dContactSoftCFM = 0x010,
513 dContactMotion1 = 0x020,
514 dContactMotion2 = 0x040,
515 dContactMotionN = 0x080,
516 dContactSlip1 = 0x100,
517 dContactSlip2 = 0x200,
518
519 dContactApprox0 = 0x0000,
520 dContactApprox1_1 = 0x1000,
521 dContactApprox1_2 = 0x2000,
522 dContactApprox1 = 0x3000
523};
524
525typedef struct dSurfaceParameters
526{
527 /* must always be defined */
528 int mode;
529 dReal mu;
530
531 /* only defined if the corresponding flag is set in mode */
532 dReal mu2;
533 dReal bounce;
534 dReal bounce_vel;
535 dReal soft_erp;
536 dReal soft_cfm;
537 dReal motion1,motion2,motionN;
538 dReal slip1,slip2;
539} dSurfaceParameters;
540
541typedef struct dContactGeom
542{
543 dVector3 pos;
544 dVector3 normal;
545 dReal depth;
546 dGeomID g1,g2;
547 int side1,side2;
548}
549dContactGeom;
550
551typedef struct dContact
552{
553 dSurfaceParameters surface;
554 dContactGeom geom;
555 dVector3 fdir1;
556}
557dContact;
558
559typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
560
561// SAP
562// Order XZY or ZXY usually works best, if your Y is up.
563#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
564#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
565#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
566#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
567#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
568#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
569
570const char* (ODE_API *dGetConfiguration)(void);
571int (ODE_API *dCheckConfiguration)( const char* token );
572int (ODE_API *dInitODE)(void);
573//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
574//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
575//void (ODE_API *dCleanupODEAllDataForThread)(void);
576void (ODE_API *dCloseODE)(void);
577
578//int (ODE_API *dMassCheck)(const dMass *m);
579//void (ODE_API *dMassSetZero)(dMass *);
580//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);
581//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
582void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
583//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
584void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
585//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
586void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
587//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
588void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
589//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
590//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
591//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
592//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
593//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
594//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
595//
596dWorldID (ODE_API *dWorldCreate)(void);
597void (ODE_API *dWorldDestroy)(dWorldID world);
598void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
599void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
600void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
601//dReal (ODE_API *dWorldGetERP)(dWorldID);
602void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
603//dReal (ODE_API *dWorldGetCFM)(dWorldID);
604//void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
605//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
606void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
607void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
608//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
609//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
610//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
611//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
612//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
613void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
614//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
615//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
616//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
617//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
618//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
619void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
620//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
621void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
622//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
623//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
624//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
625//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
626//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
627void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
628//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
629void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
630//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
631void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
632//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
633void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
634//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
635void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
636//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
637void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
638//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
639void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
640//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
641void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
642//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
643//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
644//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
645//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
646//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
647//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
648//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
649//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
650//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
651//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
652//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
653//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
654//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
655//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
656//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
657//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
658//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
659dBodyID (ODE_API *dBodyCreate)(dWorldID);
660void (ODE_API *dBodyDestroy)(dBodyID);
661void (ODE_API *dBodySetData)(dBodyID, void *data);
662void * (ODE_API *dBodyGetData)(dBodyID);
663void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
664void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
665//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
666void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
667void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
668const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
669//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
670const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
671//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
672//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
673//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
674const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
675const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
676void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
677//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
678void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
679void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
680//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
681//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
682void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
683//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
684//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
685//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
686//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
687//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
688//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
689//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
690//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
691//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
692//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
693//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
694//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
695//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
696//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
697//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
698//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
699//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
700int (ODE_API *dBodyGetNumJoints)(dBodyID b);
701dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
702//void (ODE_API *dBodySetDynamic)(dBodyID);
703//void (ODE_API *dBodySetKinematic)(dBodyID);
704//int (ODE_API *dBodyIsKinematic)(dBodyID);
705void (ODE_API *dBodyEnable)(dBodyID);
706void (ODE_API *dBodyDisable)(dBodyID);
707int (ODE_API *dBodyIsEnabled)(dBodyID);
708void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
709int (ODE_API *dBodyGetGravityMode)(dBodyID b);
710//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
711//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
712//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
713//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
714//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
715//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
716//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
717//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
718//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
719//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
720//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
721//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
722//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
723//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
724//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
725//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
726//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
727dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
728dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
729dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
730dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
731dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
732dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
733//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
734//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
735//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
736dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
737//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
738//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
739//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
740//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
741void (ODE_API *dJointDestroy)(dJointID);
742dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
743void (ODE_API *dJointGroupDestroy)(dJointGroupID);
744void (ODE_API *dJointGroupEmpty)(dJointGroupID);
745//int (ODE_API *dJointGetNumBodies)(dJointID);
746void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
747//void (ODE_API *dJointEnable)(dJointID);
748//void (ODE_API *dJointDisable)(dJointID);
749//int (ODE_API *dJointIsEnabled)(dJointID);
750void (ODE_API *dJointSetData)(dJointID, void *data);
751void * (ODE_API *dJointGetData)(dJointID);
752//dJointType (ODE_API *dJointGetType)(dJointID);
753dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
754//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
755//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
756void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
757//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
758void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
759void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
760//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
761void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
762//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
763void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
764//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
765void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
766//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
767void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
768//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
769void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
770void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
771void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
772void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
773//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
774void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
775void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
776//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
777void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
778//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
779void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
780//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
781//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
782//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
783//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
784//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
785//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
786//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
787//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
788//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
789//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
790//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
791//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
792//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
793//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
794//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
795//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
796//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
797//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
798//void (ODE_API *dJointSetFixed)(dJointID);
799//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
800//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
801//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
802//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
803//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
804//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
805//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
806//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
807//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
808//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
809//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
810//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
811//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
812//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
813//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
814//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
815//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
816//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
817//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
818//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
819//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
820//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
821//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
822//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
823//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
824//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
825//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
826//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
827//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
828//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
829//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
830//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
831//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
832//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
833//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
834//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
835//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
836//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
837//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
838//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
839//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
840//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
841//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
842//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
843//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
844//dReal (ODE_API *dJointGetPRPosition)(dJointID);
845//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
846//dReal (ODE_API *dJointGetPRAngle)(dJointID);
847//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
848//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
849//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
850//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
851//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
852//dReal (ODE_API *dJointGetPUPosition)(dJointID);
853//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
854//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
855//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
856//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
857//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
858//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
859//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
860//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
861//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
862//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
863//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
864//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
865//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
866//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
867//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
868//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
869//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
870//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
871//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
872//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
873//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
874//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
875//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
876//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
877//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
878//int (ODE_API *dJointGetAMotorMode)(dJointID);
879//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
880//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
881//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
882//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
883//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
884//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
885int (ODE_API *dAreConnected)(dBodyID, dBodyID);
886int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
887//
888dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
889dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
890dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
891//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
892void (ODE_API *dSpaceDestroy)(dSpaceID);
893//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
894//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
895//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
896//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
897//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
898//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
899//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
900//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
901//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
902//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
903//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
904//void (ODE_API *dSpaceClean)(dSpaceID);
905//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
906//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
907//int (ODE_API *dSpaceGetClass)(dSpaceID space);
908//
909void (ODE_API *dGeomDestroy)(dGeomID geom);
910void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
911void * (ODE_API *dGeomGetData)(dGeomID geom);
912void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
913dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
914void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
915void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
916//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
917//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
918//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
919//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
920//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
921//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
922//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
923int (ODE_API *dGeomIsSpace)(dGeomID geom);
924//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
925//int (ODE_API *dGeomGetClass)(dGeomID geom);
926//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
927//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
928//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
929//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
930//void (ODE_API *dGeomEnable)(dGeomID geom);
931//void (ODE_API *dGeomDisable)(dGeomID geom);
932//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
933//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
934//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
935//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
936//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
937//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
938//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
939//void (ODE_API *dGeomClearOffset)(dGeomID geom);
940//int (ODE_API *dGeomIsOffset)(dGeomID geom);
941//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
942//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
943//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
944//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
945//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
946int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
947//
948void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
949void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
950//
951dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
952//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
953//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
954//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
955//
956dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
957//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
958//
959dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
960//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
961//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
962//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
963//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
964//
965//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
966//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
967//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
968//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
969//
970dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
971//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
972//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
973//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
974//
975dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
976//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
977//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
978//
979//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
980//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
981//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
982//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
983//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
984//
985dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
986void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
987//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
988void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
989//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
990//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
991//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
992
993enum { TRIMESH_FACE_NORMALS };
994typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
995typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
996typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
997typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
998
999dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
1000void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
1001//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
1002//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
1003//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
1004//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
1005void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
1006//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
1007//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
1008//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
1009//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
1010//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
1011//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
1012//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
1013//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
1014//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
1015//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
1016//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
1017//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
1018//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
1019//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
1020//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
1021//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
1022dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
1023//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
1024//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
1025//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
1026//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
1027//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
1028//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
1029//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
1030//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
1031//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
1032//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
1033
1034static dllfunction_t odefuncs[] =
1035{
1036 {"dGetConfiguration", (void **) &dGetConfiguration},
1037 {"dCheckConfiguration", (void **) &dCheckConfiguration},
1038 {"dInitODE", (void **) &dInitODE},
1039// {"dInitODE2", (void **) &dInitODE2},
1040// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
1041// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
1042 {"dCloseODE", (void **) &dCloseODE},
1043// {"dMassCheck", (void **) &dMassCheck},
1044// {"dMassSetZero", (void **) &dMassSetZero},
1045// {"dMassSetParameters", (void **) &dMassSetParameters},
1046// {"dMassSetSphere", (void **) &dMassSetSphere},
1047 {"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
1048// {"dMassSetCapsule", (void **) &dMassSetCapsule},
1049 {"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
1050// {"dMassSetCylinder", (void **) &dMassSetCylinder},
1051 {"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
1052// {"dMassSetBox", (void **) &dMassSetBox},
1053 {"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
1054// {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
1055// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
1056// {"dMassAdjust", (void **) &dMassAdjust},
1057// {"dMassTranslate", (void **) &dMassTranslate},
1058// {"dMassRotate", (void **) &dMassRotate},
1059// {"dMassAdd", (void **) &dMassAdd},
1060
1061 {"dWorldCreate", (void **) &dWorldCreate},
1062 {"dWorldDestroy", (void **) &dWorldDestroy},
1063 {"dWorldSetGravity", (void **) &dWorldSetGravity},
1064 {"dWorldGetGravity", (void **) &dWorldGetGravity},
1065 {"dWorldSetERP", (void **) &dWorldSetERP},
1066// {"dWorldGetERP", (void **) &dWorldGetERP},
1067 {"dWorldSetCFM", (void **) &dWorldSetCFM},
1068// {"dWorldGetCFM", (void **) &dWorldGetCFM},
1069// {"dWorldStep", (void **) &dWorldStep},
1070// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
1071 {"dWorldQuickStep", (void **) &dWorldQuickStep},
1072 {"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
1073// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
1074// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
1075// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
1076// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
1077// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
1078 {"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
1079// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
1080// {"dWorldStepFast1", (void **) &dWorldStepFast1},
1081// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
1082// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
1083// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
1084 {"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
1085// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
1086 {"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
1087// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
1088// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
1089// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1090// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1091// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
1092 {"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
1093// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
1094 {"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
1095// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
1096 {"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
1097// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
1098 {"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
1099// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
1100 {"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
1101// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
1102 {"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
1103// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
1104 {"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
1105// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
1106 {"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
1107// {"dWorldSetDamping", (void **) &dWorldSetDamping},
1108// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
1109// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
1110// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
1111// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
1112// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
1113// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
1114// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
1115// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
1116// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
1117// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
1118// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
1119// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
1120// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
1121// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
1122// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
1123// {"dBodyGetWorld", (void **) &dBodyGetWorld},
1124 {"dBodyCreate", (void **) &dBodyCreate},
1125 {"dBodyDestroy", (void **) &dBodyDestroy},
1126 {"dBodySetData", (void **) &dBodySetData},
1127 {"dBodyGetData", (void **) &dBodyGetData},
1128 {"dBodySetPosition", (void **) &dBodySetPosition},
1129 {"dBodySetRotation", (void **) &dBodySetRotation},
1130// {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
1131 {"dBodySetLinearVel", (void **) &dBodySetLinearVel},
1132 {"dBodySetAngularVel", (void **) &dBodySetAngularVel},
1133 {"dBodyGetPosition", (void **) &dBodyGetPosition},
1134// {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
1135 {"dBodyGetRotation", (void **) &dBodyGetRotation},
1136// {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
1137// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
1138// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
1139 {"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
1140 {"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
1141 {"dBodySetMass", (void **) &dBodySetMass},
1142// {"dBodyGetMass", (void **) &dBodyGetMass},
1143 {"dBodyAddForce", (void **) &dBodyAddForce},
1144 {"dBodyAddTorque", (void **) &dBodyAddTorque},
1145// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
1146// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
1147 {"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
1148// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
1149// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
1150// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
1151// {"dBodyGetForce", (void **) &dBodyGetForce},
1152// {"dBodyGetTorque", (void **) &dBodyGetTorque},
1153// {"dBodySetForce", (void **) &dBodySetForce},
1154// {"dBodySetTorque", (void **) &dBodySetTorque},
1155// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
1156// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
1157// {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
1158// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
1159// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
1160// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
1161// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
1162// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
1163// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
1164// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
1165 {"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
1166 {"dBodyGetJoint", (void **) &dBodyGetJoint},
1167// {"dBodySetDynamic", (void **) &dBodySetDynamic},
1168// {"dBodySetKinematic", (void **) &dBodySetKinematic},
1169// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
1170 {"dBodyEnable", (void **) &dBodyEnable},
1171 {"dBodyDisable", (void **) &dBodyDisable},
1172 {"dBodyIsEnabled", (void **) &dBodyIsEnabled},
1173 {"dBodySetGravityMode", (void **) &dBodySetGravityMode},
1174 {"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
1175// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
1176// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
1177// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
1178// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
1179// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
1180// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
1181// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
1182// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
1183// {"dBodySetDamping", (void **) &dBodySetDamping},
1184// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
1185// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
1186// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
1187// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
1188// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
1189// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
1190// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
1191// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
1192 {"dJointCreateBall", (void **) &dJointCreateBall},
1193 {"dJointCreateHinge", (void **) &dJointCreateHinge},
1194 {"dJointCreateSlider", (void **) &dJointCreateSlider},
1195 {"dJointCreateContact", (void **) &dJointCreateContact},
1196 {"dJointCreateHinge2", (void **) &dJointCreateHinge2},
1197 {"dJointCreateUniversal", (void **) &dJointCreateUniversal},
1198// {"dJointCreatePR", (void **) &dJointCreatePR},
1199// {"dJointCreatePU", (void **) &dJointCreatePU},
1200// {"dJointCreatePiston", (void **) &dJointCreatePiston},
1201 {"dJointCreateFixed", (void **) &dJointCreateFixed},
1202// {"dJointCreateNull", (void **) &dJointCreateNull},
1203// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
1204// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
1205// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
1206 {"dJointDestroy", (void **) &dJointDestroy},
1207 {"dJointGroupCreate", (void **) &dJointGroupCreate},
1208 {"dJointGroupDestroy", (void **) &dJointGroupDestroy},
1209 {"dJointGroupEmpty", (void **) &dJointGroupEmpty},
1210// {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
1211 {"dJointAttach", (void **) &dJointAttach},
1212// {"dJointEnable", (void **) &dJointEnable},
1213// {"dJointDisable", (void **) &dJointDisable},
1214// {"dJointIsEnabled", (void **) &dJointIsEnabled},
1215 {"dJointSetData", (void **) &dJointSetData},
1216 {"dJointGetData", (void **) &dJointGetData},
1217// {"dJointGetType", (void **) &dJointGetType},
1218 {"dJointGetBody", (void **) &dJointGetBody},
1219// {"dJointSetFeedback", (void **) &dJointSetFeedback},
1220// {"dJointGetFeedback", (void **) &dJointGetFeedback},
1221 {"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
1222// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
1223 {"dJointSetBallParam", (void **) &dJointSetBallParam},
1224 {"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
1225// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
1226 {"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
1227// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
1228 {"dJointSetHingeParam", (void **) &dJointSetHingeParam},
1229// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
1230 {"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
1231// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
1232 {"dJointSetSliderParam", (void **) &dJointSetSliderParam},
1233// {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
1234 {"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
1235 {"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
1236 {"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
1237 {"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
1238// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
1239 {"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
1240 {"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
1241// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
1242 {"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
1243// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
1244 {"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
1245// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
1246// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
1247// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
1248// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
1249// {"dJointSetPRParam", (void **) &dJointSetPRParam},
1250// {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
1251// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
1252// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
1253// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
1254// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
1255// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
1256// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
1257// {"dJointSetPUParam", (void **) &dJointSetPUParam},
1258// {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
1259// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
1260// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
1261// {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
1262// {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
1263// {"dJointSetFixed", (void **) &dJointSetFixed},
1264// {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
1265// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
1266// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
1267// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
1268// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
1269// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
1270// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
1271// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
1272// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
1273// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
1274// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
1275// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
1276// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
1277// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
1278// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
1279// {"dJointGetBallParam", (void **) &dJointGetBallParam},
1280// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
1281// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
1282// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
1283// {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
1284// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
1285// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
1286// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
1287// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
1288// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
1289// {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
1290// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
1291// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
1292// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
1293// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
1294// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
1295// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
1296// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
1297// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
1298// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
1299// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
1300// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
1301// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
1302// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
1303// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
1304// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
1305// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
1306// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
1307// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
1308// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
1309// {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
1310// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
1311// {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
1312// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
1313// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
1314// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
1315// {"dJointGetPRParam", (void **) &dJointGetPRParam},
1316// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
1317// {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
1318// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
1319// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
1320// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
1321// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
1322// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
1323// {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
1324// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
1325// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
1326// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
1327// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
1328// {"dJointGetPUParam", (void **) &dJointGetPUParam},
1329// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
1330// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
1331// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
1332// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
1333// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
1334// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
1335// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
1336// {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
1337// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
1338// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
1339// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
1340// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
1341// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
1342// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
1343// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
1344// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
1345// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
1346// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
1347// {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
1348// {"dConnectingJoint", (void **) &dConnectingJoint},
1349// {"dConnectingJointList", (void **) &dConnectingJointList},
1350 {"dAreConnected", (void **) &dAreConnected},
1351 {"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
1352 {"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
1353 {"dHashSpaceCreate", (void **) &dHashSpaceCreate},
1354 {"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
1355// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
1356 {"dSpaceDestroy", (void **) &dSpaceDestroy},
1357// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
1358// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
1359// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
1360// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
1361// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
1362// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
1363// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
1364// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
1365// {"dSpaceAdd", (void **) &dSpaceAdd},
1366// {"dSpaceRemove", (void **) &dSpaceRemove},
1367// {"dSpaceQuery", (void **) &dSpaceQuery},
1368// {"dSpaceClean", (void **) &dSpaceClean},
1369// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
1370// {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
1371// {"dSpaceGetClass", (void **) &dSpaceGetClass},
1372 {"dGeomDestroy", (void **) &dGeomDestroy},
1373 {"dGeomSetData", (void **) &dGeomSetData},
1374 {"dGeomGetData", (void **) &dGeomGetData},
1375 {"dGeomSetBody", (void **) &dGeomSetBody},
1376 {"dGeomGetBody", (void **) &dGeomGetBody},
1377 {"dGeomSetPosition", (void **) &dGeomSetPosition},
1378 {"dGeomSetRotation", (void **) &dGeomSetRotation},
1379// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
1380// {"dGeomGetPosition", (void **) &dGeomGetPosition},
1381// {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
1382// {"dGeomGetRotation", (void **) &dGeomGetRotation},
1383// {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
1384// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
1385// {"dGeomGetAABB", (void **) &dGeomGetAABB},
1386 {"dGeomIsSpace", (void **) &dGeomIsSpace},
1387// {"dGeomGetSpace", (void **) &dGeomGetSpace},
1388// {"dGeomGetClass", (void **) &dGeomGetClass},
1389// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
1390// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
1391// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
1392// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
1393// {"dGeomEnable", (void **) &dGeomEnable},
1394// {"dGeomDisable", (void **) &dGeomDisable},
1395// {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
1396// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
1397// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
1398// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
1399// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
1400// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
1401// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
1402// {"dGeomClearOffset", (void **) &dGeomClearOffset},
1403// {"dGeomIsOffset", (void **) &dGeomIsOffset},
1404// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
1405// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
1406// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
1407// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
1408// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
1409 {"dCollide", (void **) &dCollide},
1410 {"dSpaceCollide", (void **) &dSpaceCollide},
1411 {"dSpaceCollide2", (void **) &dSpaceCollide2},
1412 {"dCreateSphere", (void **) &dCreateSphere},
1413// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
1414// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
1415// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
1416 {"dCreateConvex", (void **) &dCreateConvex},
1417// {"dGeomSetConvex", (void **) &dGeomSetConvex},
1418 {"dCreateBox", (void **) &dCreateBox},
1419// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
1420// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
1421// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1422// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
1423// {"dCreatePlane", (void **) &dCreatePlane},
1424// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
1425// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
1426// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
1427 {"dCreateCapsule", (void **) &dCreateCapsule},
1428// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
1429// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
1430// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
1431 {"dCreateCylinder", (void **) &dCreateCylinder},
1432// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
1433// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
1434// {"dCreateRay", (void **) &dCreateRay},
1435// {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
1436// {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
1437// {"dGeomRaySet", (void **) &dGeomRaySet},
1438// {"dGeomRayGet", (void **) &dGeomRayGet},
1439 {"dCreateGeomTransform", (void **) &dCreateGeomTransform},
1440 {"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
1441// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
1442 {"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
1443// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
1444// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
1445// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
1446 {"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
1447 {"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
1448// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
1449// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
1450// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
1451// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
1452 {"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
1453// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
1454// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
1455// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
1456// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
1457// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
1458// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
1459// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
1460// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
1461// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
1462// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
1463// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
1464// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
1465// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
1466// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
1467// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
1468// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
1469 {"dCreateTriMesh", (void **) &dCreateTriMesh},
1470// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
1471// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
1472// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
1473// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
1474// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
1475// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
1476// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
1477// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
1478// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
1479// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
1480 {NULL, NULL}
1481};
1482// Handle for ODE DLL
1483dllhandle_t ode_dll = NULL;
1484#endif
1485
1486static void World_Physics_Init(void)
1487{
1488#ifndef LINK_TO_LIBODE
1489 const char* dllnames [] =
1490 {
1491# if defined(WIN32)
1492 "libode3.dll",
1493 "libode2.dll",
1494 "libode1.dll",
1495# elif defined(MACOSX)
1496 "libode.3.dylib",
1497 "libode.2.dylib",
1498 "libode.1.dylib",
1499# else
1500 "libode.so.3",
1501 "libode.so.2",
1502 "libode.so.1",
1503# endif
1504 NULL
1505 };
1506#endif
1507
1508 Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1509 Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1510 Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
1511 Cvar_RegisterVariable(&physics_ode_contact_mu);
1512 Cvar_RegisterVariable(&physics_ode_contact_erp);
1513 Cvar_RegisterVariable(&physics_ode_contact_cfm);
1514 Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
1515 Cvar_RegisterVariable(&physics_ode_world_erp);
1516 Cvar_RegisterVariable(&physics_ode_world_cfm);
1517 Cvar_RegisterVariable(&physics_ode_world_damping);
1518 Cvar_RegisterVariable(&physics_ode_world_damping_linear);
1519 Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
1520 Cvar_RegisterVariable(&physics_ode_world_damping_angular);
1521 Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
1522 Cvar_RegisterVariable(&physics_ode_world_gravitymod);
1523 Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1524 Cvar_RegisterVariable(&physics_ode_constantstep);
1525 Cvar_RegisterVariable(&physics_ode_movelimit);
1526 Cvar_RegisterVariable(&physics_ode_spinlimit);
1527 Cvar_RegisterVariable(&physics_ode_trick_fixnan);
1528 Cvar_RegisterVariable(&physics_ode_autodisable);
1529 Cvar_RegisterVariable(&physics_ode_autodisable_steps);
1530 Cvar_RegisterVariable(&physics_ode_autodisable_time);
1531 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
1532 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
1533 Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
1534 Cvar_RegisterVariable(&physics_ode_printstats);
1535 Cvar_RegisterVariable(&physics_ode_allowconvex);
1536 Cvar_RegisterVariable(&physics_ode);
1537
1538#ifndef LINK_TO_LIBODE
1539 // Load the DLL
1540 if (Sys_LoadDependency (dllnames, &ode_dll, odefuncs))
1541#endif
1542 {
1543 dInitODE();
1544// dInitODE2(0);
1545#ifndef LINK_TO_LIBODE
1546# ifdef dSINGLE
1547 if (!dCheckConfiguration("ODE_single_precision"))
1548# else
1549 if (!dCheckConfiguration("ODE_double_precision"))
1550# endif
1551 {
1552# ifdef dSINGLE
1553 Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
1554# else
1555 Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
1556# endif
1557 Sys_FreeLibrary(&ode_dll);
1558 ode_dll = NULL;
1559 }
1560 else
1561 {
1562# ifdef dSINGLE
1563 Con_Printf("ODE library loaded with single precision.\n");
1564# else
1565 Con_Printf("ODE library loaded with double precision.\n");
1566# endif
1567 Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
1568 }
1569#endif
1570 }
1571}
1572static void World_Physics_Shutdown(void)
1573{
1574#ifndef LINK_TO_LIBODE
1575 if (ode_dll)
1576#endif
1577 {
1578 dCloseODE();
1579#ifndef LINK_TO_LIBODE
1580 Sys_FreeLibrary(&ode_dll);
1581 ode_dll = NULL;
1582#endif
1583 }
1584}
1585
1586static void World_Physics_UpdateODE(world_t *world)
1587{
1588 dWorldID odeworld;
1589
1590 odeworld = (dWorldID)world->physics.ode_world;
1591
1592 // ERP and CFM
1593 if (physics_ode_world_erp.value >= 0)
1594 dWorldSetERP(odeworld, physics_ode_world_erp.value);
1595 if (physics_ode_world_cfm.value >= 0)
1596 dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
1597 // Damping
1598 if (physics_ode_world_damping.integer)
1599 {
1600 dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
1601 dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
1602 dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
1603 dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
1604 }
1605 else
1606 {
1607 dWorldSetLinearDamping(odeworld, 0);
1608 dWorldSetLinearDampingThreshold(odeworld, 0);
1609 dWorldSetAngularDamping(odeworld, 0);
1610 dWorldSetAngularDampingThreshold(odeworld, 0);
1611 }
1612 // Autodisable
1613 dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
1614 if (physics_ode_autodisable.integer)
1615 {
1616 dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
1617 dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
1618 dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
1619 dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
1620 dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
1621 }
1622}
1623
1624static void World_Physics_EnableODE(world_t *world)
1625{
1626 dVector3 center, extents;
1627 if (world->physics.ode)
1628 return;
1629#ifndef LINK_TO_LIBODE
1630 if (!ode_dll)
1631 return;
1632#endif
1633 world->physics.ode = true;
1634 VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1635 VectorSubtract(world->maxs, center, extents);
1636 world->physics.ode_world = dWorldCreate();
1637 world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1638 world->physics.ode_contactgroup = dJointGroupCreate(0);
1639
1640 World_Physics_UpdateODE(world);
1641}
1642
1643static void World_Physics_Start(world_t *world)
1644{
1645 if (world->physics.ode)
1646 return;
1647 World_Physics_EnableODE(world);
1648}
1649
1650static void World_Physics_End(world_t *world)
1651{
1652 if (world->physics.ode)
1653 {
1654 dWorldDestroy((dWorldID)world->physics.ode_world);
1655 dSpaceDestroy((dSpaceID)world->physics.ode_space);
1656 dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
1657 world->physics.ode = false;
1658 }
1659}
1660
1661void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
1662{
1663 ed->priv.server->ode_joint_type = 0;
1664 if(ed->priv.server->ode_joint)
1665 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1666 ed->priv.server->ode_joint = NULL;
1667}
1668
1669void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1670{
1671 edict_odefunc_t *f, *nf;
1672
1673 // entity is not physics controlled, free any physics data
1674 ed->priv.server->ode_physics = false;
1675 if (ed->priv.server->ode_geom)
1676 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1677 ed->priv.server->ode_geom = NULL;
1678 if (ed->priv.server->ode_body)
1679 {
1680 dJointID j;
1681 dBodyID b1, b2;
1682 prvm_edict_t *ed2;
1683 while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
1684 {
1685 j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
1686 ed2 = (prvm_edict_t *) dJointGetData(j);
1687 b1 = dJointGetBody(j, 0);
1688 b2 = dJointGetBody(j, 1);
1689 if(b1 == (dBodyID)ed->priv.server->ode_body)
1690 {
1691 b1 = 0;
1692 ed2->priv.server->ode_joint_enemy = 0;
1693 }
1694 if(b2 == (dBodyID)ed->priv.server->ode_body)
1695 {
1696 b2 = 0;
1697 ed2->priv.server->ode_joint_aiment = 0;
1698 }
1699 dJointAttach(j, b1, b2);
1700 }
1701 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1702 }
1703 ed->priv.server->ode_body = NULL;
1704 if (ed->priv.server->ode_vertex3f)
1705 Mem_Free(ed->priv.server->ode_vertex3f);
1706 ed->priv.server->ode_vertex3f = NULL;
1707 ed->priv.server->ode_numvertices = 0;
1708 if (ed->priv.server->ode_element3i)
1709 Mem_Free(ed->priv.server->ode_element3i);
1710 ed->priv.server->ode_element3i = NULL;
1711 ed->priv.server->ode_numtriangles = 0;
1712 if(ed->priv.server->ode_massbuf)
1713 Mem_Free(ed->priv.server->ode_massbuf);
1714 ed->priv.server->ode_massbuf = NULL;
1715 // clear functions stack
1716 for(f = ed->priv.server->ode_func; f; f = nf)
1717 {
1718 nf = f->next;
1719 Mem_Free(f);
1720 }
1721 ed->priv.server->ode_func = NULL;
1722}
1723
1724void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
1725{
1726 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1727
1728 switch(f->type)
1729 {
1730 case ODEFUNC_ENABLE:
1731 dBodyEnable(body);
1732 break;
1733 case ODEFUNC_DISABLE:
1734 dBodyDisable(body);
1735 break;
1736 case ODEFUNC_FORCE:
1737 dBodyEnable(body);
1738 dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
1739 break;
1740 case ODEFUNC_TORQUE:
1741 dBodyEnable(body);
1742 dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
1743 break;
1744 default:
1745 break;
1746 }
1747}
1748
1749static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1750{
1751 prvm_prog_t *prog = world->prog;
1752 const dReal *avel;
1753 const dReal *o;
1754 const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1755 const dReal *vel;
1756 dBodyID body = (dBodyID)ed->priv.server->ode_body;
1757 int movetype;
1758 matrix4x4_t bodymatrix;
1759 matrix4x4_t entitymatrix;
1760 vec3_t angles;
1761 vec3_t avelocity;
1762 vec3_t forward, left, up;
1763 vec3_t origin;
1764 vec3_t spinvelocity;
1765 vec3_t velocity;
1766 int jointtype;
1767 if (!body)
1768 return;
1769 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1770 if (movetype != MOVETYPE_PHYSICS)
1771 {
1772 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1773 switch(jointtype)
1774 {
1775 // TODO feed back data from physics
1776 case JOINTTYPE_POINT:
1777 break;
1778 case JOINTTYPE_HINGE:
1779 break;
1780 case JOINTTYPE_SLIDER:
1781 break;
1782 case JOINTTYPE_UNIVERSAL:
1783 break;
1784 case JOINTTYPE_HINGE2:
1785 break;
1786 case JOINTTYPE_FIXED:
1787 break;
1788 }
1789 return;
1790 }
1791 // store the physics engine data into the entity
1792 o = dBodyGetPosition(body);
1793 r = dBodyGetRotation(body);
1794 vel = dBodyGetLinearVel(body);
1795 avel = dBodyGetAngularVel(body);
1796 VectorCopy(o, origin);
1797 forward[0] = r[0];
1798 forward[1] = r[4];
1799 forward[2] = r[8];
1800 left[0] = r[1];
1801 left[1] = r[5];
1802 left[2] = r[9];
1803 up[0] = r[2];
1804 up[1] = r[6];
1805 up[2] = r[10];
1806 VectorCopy(vel, velocity);
1807 VectorCopy(avel, spinvelocity);
1808 Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1809 Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1810 Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1811
1812 AnglesFromVectors(angles, forward, up, false);
1813 VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
1814
1815 {
1816 float pitchsign = 1;
1817 if(prog == SVVM_prog) // FIXME some better way?
1818 {
1819 pitchsign = SV_GetPitchSign(prog, ed);
1820 }
1821 else if(prog == CLVM_prog)
1822 {
1823 pitchsign = CL_GetPitchSign(prog, ed);
1824 }
1825 angles[PITCH] *= pitchsign;
1826 avelocity[PITCH] *= pitchsign;
1827 }
1828
1829 VectorCopy(origin, PRVM_gameedictvector(ed, origin));
1830 VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
1831 //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
1832 //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
1833 //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
1834 //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
1835 VectorCopy(angles, PRVM_gameedictvector(ed, angles));
1836 VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
1837
1838 // values for BodyFromEntity to check if the qc modified anything later
1839 VectorCopy(origin, ed->priv.server->ode_origin);
1840 VectorCopy(velocity, ed->priv.server->ode_velocity);
1841 VectorCopy(angles, ed->priv.server->ode_angles);
1842 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1843 ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;
1844
1845 if(prog == SVVM_prog) // FIXME some better way?
1846 {
1847 SV_LinkEdict(ed);
1848 SV_LinkEdict_TouchAreaGrid(ed);
1849 }
1850}
1851
1852static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
1853{
1854 prvm_prog_t *prog = world->prog;
1855 int forcetype = 0, movetype = 0, enemy = 0;
1856 vec3_t movedir, origin;
1857
1858 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1859 forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
1860 if (movetype == MOVETYPE_PHYSICS)
1861 forcetype = FORCETYPE_NONE; // can't have both
1862 if (!forcetype)
1863 return;
1864 enemy = PRVM_gameedictedict(ed, enemy);
1865 if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].free || prog->edicts[enemy].priv.server->ode_body == 0)
1866 return;
1867 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1868 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1869 dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body);
1870 switch(forcetype)
1871 {
1872 case FORCETYPE_FORCE:
1873 if (movedir[0] || movedir[1] || movedir[2])
1874 dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1875 break;
1876 case FORCETYPE_FORCEATPOS:
1877 if (movedir[0] || movedir[1] || movedir[2])
1878 dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
1879 break;
1880 case FORCETYPE_TORQUE:
1881 if (movedir[0] || movedir[1] || movedir[2])
1882 dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
1883 break;
1884 case FORCETYPE_NONE:
1885 default:
1886 // bad force
1887 break;
1888 }
1889}
1890
1891static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
1892{
1893 prvm_prog_t *prog = world->prog;
1894 dJointID j = 0;
1895 dBodyID b1 = 0;
1896 dBodyID b2 = 0;
1897 int movetype = 0;
1898 int jointtype = 0;
1899 int enemy = 0, aiment = 0;
1900 vec3_t origin, velocity, angles, forward, left, up, movedir;
1901 vec_t CFM, ERP, FMax, Stop, Vel;
1902
1903 movetype = (int)PRVM_gameedictfloat(ed, movetype);
1904 jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
1905 VectorClear(origin);
1906 VectorClear(velocity);
1907 VectorClear(angles);
1908 VectorClear(movedir);
1909 enemy = PRVM_gameedictedict(ed, enemy);
1910 aiment = PRVM_gameedictedict(ed, aiment);
1911 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
1912 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
1913 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
1914 VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
1915 if(movetype == MOVETYPE_PHYSICS)
1916 jointtype = JOINTTYPE_NONE; // can't have both
1917 if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].free || prog->edicts[enemy].priv.server->ode_body == 0)
1918 enemy = 0;
1919 if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].free || prog->edicts[aiment].priv.server->ode_body == 0)
1920 aiment = 0;
1921 // see http://www.ode.org/old_list_archives/2006-January/017614.html
1922 // we want to set ERP? make it fps independent and work like a spring constant
1923 // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
1924 if(movedir[0] > 0 && movedir[1] > 0)
1925 {
1926 float K = movedir[0];
1927 float D = movedir[1];
1928 float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
1929 CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
1930 ERP = world->physics.ode_step * K * CFM;
1931 Vel = 0;
1932 FMax = 0;
1933 Stop = movedir[2];
1934 }
1935 else if(movedir[1] < 0)
1936 {
1937 CFM = 0;
1938 ERP = 0;
1939 Vel = movedir[0];
1940 FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
1941 Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
1942 }
1943 else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
1944 {
1945 CFM = 0;
1946 ERP = 0;
1947 Vel = 0;
1948 FMax = 0;
1949 Stop = dInfinity;
1950 }
1951 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))
1952 return; // nothing to do
1953 AngleVectorsFLU(angles, forward, left, up);
1954 switch(jointtype)
1955 {
1956 case JOINTTYPE_POINT:
1957 j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
1958 break;
1959 case JOINTTYPE_HINGE:
1960 j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
1961 break;
1962 case JOINTTYPE_SLIDER:
1963 j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
1964 break;
1965 case JOINTTYPE_UNIVERSAL:
1966 j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
1967 break;
1968 case JOINTTYPE_HINGE2:
1969 j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
1970 break;
1971 case JOINTTYPE_FIXED:
1972 j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
1973 break;
1974 case JOINTTYPE_NONE:
1975 default:
1976 // no joint
1977 j = 0;
1978 break;
1979 }
1980 if(ed->priv.server->ode_joint)
1981 {
1982 //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
1983 dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
1984 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1985 }
1986 ed->priv.server->ode_joint = (void *) j;
1987 ed->priv.server->ode_joint_type = jointtype;
1988 ed->priv.server->ode_joint_enemy = enemy;
1989 ed->priv.server->ode_joint_aiment = aiment;
1990 VectorCopy(origin, ed->priv.server->ode_joint_origin);
1991 VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
1992 VectorCopy(angles, ed->priv.server->ode_joint_angles);
1993 VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
1994 if(j)
1995 {
1996 //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
1997 dJointSetData(j, (void *) ed);
1998 if(enemy)
1999 b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
2000 if(aiment)
2001 b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
2002 dJointAttach(j, b1, b2);
2003
2004 switch(jointtype)
2005 {
2006 case JOINTTYPE_POINT:
2007 dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
2008 break;
2009 case JOINTTYPE_HINGE:
2010 dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
2011 dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
2012 dJointSetHingeParam(j, dParamFMax, FMax);
2013 dJointSetHingeParam(j, dParamHiStop, Stop);
2014 dJointSetHingeParam(j, dParamLoStop, -Stop);
2015 dJointSetHingeParam(j, dParamStopCFM, CFM);
2016 dJointSetHingeParam(j, dParamStopERP, ERP);
2017 dJointSetHingeParam(j, dParamVel, Vel);
2018 break;
2019 case JOINTTYPE_SLIDER:
2020 dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
2021 dJointSetSliderParam(j, dParamFMax, FMax);
2022 dJointSetSliderParam(j, dParamHiStop, Stop);
2023 dJointSetSliderParam(j, dParamLoStop, -Stop);
2024 dJointSetSliderParam(j, dParamStopCFM, CFM);
2025 dJointSetSliderParam(j, dParamStopERP, ERP);
2026 dJointSetSliderParam(j, dParamVel, Vel);
2027 break;
2028 case JOINTTYPE_UNIVERSAL:
2029 dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
2030 dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
2031 dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
2032 dJointSetUniversalParam(j, dParamFMax, FMax);
2033 dJointSetUniversalParam(j, dParamHiStop, Stop);
2034 dJointSetUniversalParam(j, dParamLoStop, -Stop);
2035 dJointSetUniversalParam(j, dParamStopCFM, CFM);
2036 dJointSetUniversalParam(j, dParamStopERP, ERP);
2037 dJointSetUniversalParam(j, dParamVel, Vel);
2038 dJointSetUniversalParam(j, dParamFMax2, FMax);
2039 dJointSetUniversalParam(j, dParamHiStop2, Stop);
2040 dJointSetUniversalParam(j, dParamLoStop2, -Stop);
2041 dJointSetUniversalParam(j, dParamStopCFM2, CFM);
2042 dJointSetUniversalParam(j, dParamStopERP2, ERP);
2043 dJointSetUniversalParam(j, dParamVel2, Vel);
2044 break;
2045 case JOINTTYPE_HINGE2:
2046 dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
2047 dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
2048 dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
2049 dJointSetHinge2Param(j, dParamFMax, FMax);
2050 dJointSetHinge2Param(j, dParamHiStop, Stop);
2051 dJointSetHinge2Param(j, dParamLoStop, -Stop);
2052 dJointSetHinge2Param(j, dParamStopCFM, CFM);
2053 dJointSetHinge2Param(j, dParamStopERP, ERP);
2054 dJointSetHinge2Param(j, dParamVel, Vel);
2055 dJointSetHinge2Param(j, dParamFMax2, FMax);
2056 dJointSetHinge2Param(j, dParamHiStop2, Stop);
2057 dJointSetHinge2Param(j, dParamLoStop2, -Stop);
2058 dJointSetHinge2Param(j, dParamStopCFM2, CFM);
2059 dJointSetHinge2Param(j, dParamStopERP2, ERP);
2060 dJointSetHinge2Param(j, dParamVel2, Vel);
2061 break;
2062 case JOINTTYPE_FIXED:
2063 break;
2064 case 0:
2065 default:
2066 Sys_Error("what? but above the joint was valid...\n");
2067 break;
2068 }
2069#undef SETPARAMS
2070
2071 }
2072}
2073
2074// test convex geometry data
2075// planes for a cube, these should coincide with the
2076dReal test_convex_planes[] =
2077{
2078 1.0f ,0.0f ,0.0f ,2.25f,
2079 0.0f ,1.0f ,0.0f ,2.25f,
2080 0.0f ,0.0f ,1.0f ,2.25f,
2081 -1.0f,0.0f ,0.0f ,2.25f,
2082 0.0f ,-1.0f,0.0f ,2.25f,
2083 0.0f ,0.0f ,-1.0f,2.25f
2084};
2085const unsigned int test_convex_planecount = 6;
2086// points for a cube
2087dReal test_convex_points[] =
2088{
2089 2.25f,2.25f,2.25f, // point 0
2090 -2.25f,2.25f,2.25f, // point 1
2091 2.25f,-2.25f,2.25f, // point 2
2092 -2.25f,-2.25f,2.25f, // point 3
2093 2.25f,2.25f,-2.25f, // point 4
2094 -2.25f,2.25f,-2.25f, // point 5
2095 2.25f,-2.25f,-2.25f, // point 6
2096 -2.25f,-2.25f,-2.25f, // point 7
2097};
2098const unsigned int test_convex_pointcount = 8;
2099// polygons for a cube (6 squares), index
2100unsigned int test_convex_polygons[] =
2101{
2102 4,0,2,6,4, // positive X
2103 4,1,0,4,5, // positive Y
2104 4,0,1,3,2, // positive Z
2105 4,3,1,5,7, // negative X
2106 4,2,3,7,6, // negative Y
2107 4,5,4,6,7, // negative Z
2108};
2109
2110static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
2111{
2112 prvm_prog_t *prog = world->prog;
2113 const float *iv;
2114 const int *ie;
2115 dBodyID body;
2116 dMass mass;
2117 const dReal *ovelocity, *ospinvelocity;
2118 void *dataID;
2119 model_t *model;
2120 float *ov;
2121 int *oe;
2122 int axisindex;
2123 int modelindex = 0;
2124 int movetype = MOVETYPE_NONE;
2125 int numtriangles;
2126 int numvertices;
2127 int solid = SOLID_NOT, geomtype = 0;
2128 int triangleindex;
2129 int vertexindex;
2130 mempool_t *mempool;
2131 qbool modified = false;
2132 vec3_t angles;
2133 vec3_t avelocity;
2134 vec3_t entmaxs;
2135 vec3_t entmins;
2136 vec3_t forward;
2137 vec3_t geomcenter;
2138 vec3_t geomsize;
2139 vec3_t left;
2140 vec3_t origin;
2141 vec3_t spinvelocity;
2142 vec3_t up;
2143 vec3_t velocity;
2144 vec_t f;
2145 vec_t length;
2146 vec_t massval = 1.0f;
2147 vec_t movelimit;
2148 vec_t radius;
2149 vec3_t scale;
2150 vec_t spinlimit;
2151 vec_t test;
2152 qbool gravity;
2153 qbool geom_modified = false;
2154 edict_odefunc_t *func, *nextf;
2155
2156 dReal *planes, *planesData, *pointsData;
2157 unsigned int *polygons, *polygonsData, polyvert;
2158 qbool *mapped, *used, convex_compatible;
2159 int numplanes = 0, numpoints = 0, i;
2160
2161#ifndef LINK_TO_LIBODE
2162 if (!ode_dll)
2163 return;
2164#endif
2165 VectorClear(entmins);
2166 VectorClear(entmaxs);
2167
2168 solid = (int)PRVM_gameedictfloat(ed, solid);
2169 geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
2170 movetype = (int)PRVM_gameedictfloat(ed, movetype);
2171 // support scale and q3map/radiant's modelscale_vec
2172 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)
2173 VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
2174 else if (PRVM_gameedictfloat(ed, scale))
2175 VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
2176 else
2177 VectorSet(scale, 1.0f, 1.0f, 1.0f);
2178 modelindex = 0;
2179 if (PRVM_gameedictfloat(ed, mass))
2180 massval = PRVM_gameedictfloat(ed, mass);
2181 if (movetype != MOVETYPE_PHYSICS)
2182 massval = 1.0f;
2183 mempool = prog->progs_mempool;
2184 model = NULL;
2185 if (!geomtype)
2186 {
2187 // VorteX: keep support for deprecated solid fields to not break mods
2188 if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
2189 geomtype = GEOMTYPE_TRIMESH;
2190 else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
2191 geomtype = GEOMTYPE_NONE;
2192 else if (solid == SOLID_PHYSICS_SPHERE)
2193 geomtype = GEOMTYPE_SPHERE;
2194 else if (solid == SOLID_PHYSICS_CAPSULE)
2195 geomtype = GEOMTYPE_CAPSULE;
2196 else if (solid == SOLID_PHYSICS_CYLINDER)
2197 geomtype = GEOMTYPE_CYLINDER;
2198 else if (solid == SOLID_PHYSICS_BOX)
2199 geomtype = GEOMTYPE_BOX;
2200 else
2201 geomtype = GEOMTYPE_BOX;
2202 }
2203 if (geomtype == GEOMTYPE_TRIMESH)
2204 {
2205 modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
2206 if (world == &sv.world)
2207 model = SV_GetModelByIndex(modelindex);
2208 else if (world == &cl.world)
2209 model = CL_GetModelByIndex(modelindex);
2210 else
2211 model = NULL;
2212 if (model)
2213 {
2214 entmins[0] = model->normalmins[0] * scale[0];
2215 entmins[1] = model->normalmins[1] * scale[1];
2216 entmins[2] = model->normalmins[2] * scale[2];
2217 entmaxs[0] = model->normalmaxs[0] * scale[0];
2218 entmaxs[1] = model->normalmaxs[1] * scale[1];
2219 entmaxs[2] = model->normalmaxs[2] * scale[2];
2220 geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
2221 }
2222 else
2223 {
2224 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2225 geomtype = GEOMTYPE_BOX;
2226 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2227 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2228 modelindex = 0;
2229 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2230 }
2231 }
2232 else if (geomtype && geomtype != GEOMTYPE_NONE)
2233 {
2234 VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
2235 VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
2236 geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
2237 }
2238 else
2239 {
2240 // geometry type not set, falling back
2241 if (ed->priv.server->ode_physics)
2242 World_Physics_RemoveFromEntity(world, ed);
2243 return;
2244 }
2245
2246 VectorSubtract(entmaxs, entmins, geomsize);
2247 if (VectorLength2(geomsize) == 0)
2248 {
2249 // we don't allow point-size physics objects...
2250 if (ed->priv.server->ode_physics)
2251 World_Physics_RemoveFromEntity(world, ed);
2252 return;
2253 }
2254
2255 // get friction
2256 ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
2257
2258 // check if we need to create or replace the geom
2259 if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
2260 {
2261 modified = true;
2262 World_Physics_RemoveFromEntity(world, ed);
2263 ed->priv.server->ode_physics = true;
2264 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2265 if (PRVM_gameedictvector(ed, massofs))
2266 VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
2267
2268 // check geomsize
2269 if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
2270 {
2271 if (movetype == MOVETYPE_PHYSICS)
2272 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)));
2273 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2274 }
2275
2276 // greate geom
2277 switch(geomtype)
2278 {
2279 case GEOMTYPE_TRIMESH:
2280 // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
2281 if (!model->brush.collisionmesh)
2282 Mod_CreateCollisionMesh(model);
2283 if (!model->brush.collisionmesh)
2284 {
2285 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
2286 goto treatasbox;
2287 }
2288
2289 // check if trimesh can be defined with convex
2290 convex_compatible = false;
2291 for (i = model->submodelsurfaces_start;i < model->submodelsurfaces_end;i++)
2292 {
2293 if (!strcmp(model->data_surfaces[i].texture->name, "collisionconvex"))
2294 {
2295 convex_compatible = true;
2296 break;
2297 }
2298 }
2299
2300 // ODE requires persistent mesh storage, so we need to copy out
2301 // the data from the model because renderer restarts could free it
2302 // during the game, additionally we need to flip the triangles...
2303 // note: ODE does preprocessing of the mesh for culling, removing
2304 // concave edges, etc., so this is not a lightweight operation
2305 ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
2306 ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
2307
2308 // VorteX: rebuild geomsize based on entity's collision mesh, honor scale
2309 VectorSet(entmins, 0, 0, 0);
2310 VectorSet(entmaxs, 0, 0, 0);
2311 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2312 {
2313 ov[0] = iv[0] * scale[0];
2314 ov[1] = iv[1] * scale[1];
2315 ov[2] = iv[2] * scale[2];
2316 entmins[0] = min(entmins[0], ov[0]);
2317 entmins[1] = min(entmins[1], ov[1]);
2318 entmins[2] = min(entmins[2], ov[2]);
2319 entmaxs[0] = max(entmaxs[0], ov[0]);
2320 entmaxs[1] = max(entmaxs[1], ov[1]);
2321 entmaxs[2] = max(entmaxs[2], ov[2]);
2322 }
2323 if (!PRVM_gameedictvector(ed, massofs))
2324 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2325 for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2326 {
2327 ov[0] = ov[0] - geomcenter[0];
2328 ov[1] = ov[1] - geomcenter[1];
2329 ov[2] = ov[2] - geomcenter[2];
2330 }
2331 VectorSubtract(entmaxs, entmins, geomsize);
2332 if (VectorLength2(geomsize) == 0)
2333 {
2334 if (movetype == MOVETYPE_PHYSICS)
2335 Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
2336 VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2337 }
2338 ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
2339 ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
2340 //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
2341 for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
2342 {
2343 oe[0] = ie[2];
2344 oe[1] = ie[1];
2345 oe[2] = ie[0];
2346 }
2347 // create geom
2348 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2349 if (!convex_compatible || !physics_ode_allowconvex.integer)
2350 {
2351 // trimesh
2352 dataID = dGeomTriMeshDataCreate();
2353 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]));
2354 ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
2355 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2356 }
2357 else
2358 {
2359 // VorteX: this code is unfinished in two ways
2360 // - no duplicate vertex merging are done
2361 // - triangles that shares same edge and havee sam plane are not merget into poly
2362 // so, currently it only works for geosphere meshes with no UV
2363
2364 Con_Printf("Build convex hull for model %s...\n", model->name);
2365 // build convex geometry from trimesh data
2366 // this ensures that trimesh's triangles can form correct convex geometry
2367 // not many of error checking is performed
2368 // ODE's conve hull data consist of:
2369 // planes : an array of planes in the form: normal X, normal Y, normal Z, distance
2370 // points : an array of points X,Y,Z
2371 // polygons: an array of indices to the points of each polygon,it should be the number of vertices
2372 // followed by that amount of indices to "points" in counter clockwise order
2373 polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
2374 planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
2375 mapped = (qbool *)Mem_Alloc(mempool, numvertices*sizeof(qbool));
2376 used = (qbool *)Mem_Alloc(mempool, numtriangles*sizeof(qbool));
2377 memset(mapped, 0, numvertices*sizeof(qbool));
2378 memset(used, 0, numtriangles*sizeof(qbool));
2379 numplanes = numpoints = polyvert = 0;
2380 // build convex hull
2381 // todo: merge duplicated verts here
2382 Con_Printf("Building...\n");
2383 iv = ed->priv.server->ode_vertex3f;
2384 for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
2385 {
2386 // already formed a polygon?
2387 if (used[triangleindex])
2388 continue;
2389 // init polygon
2390 // switch clockwise->counterclockwise
2391 ie = &model->brush.collisionmesh->element3i[triangleindex*3];
2392 used[triangleindex] = true;
2393 TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
2394 VectorNormalize(planes);
2395 polygons[0] = 3;
2396 polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
2397 polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
2398 polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
2399
2400 // now find and include concave triangles
2401 for (i = triangleindex; i < numtriangles; i++)
2402 {
2403 if (used[i])
2404 continue;
2405 // should share at least 2 vertexes
2406 for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
2407 {
2408 // todo: merge in triangles that shares an edge and have same plane here
2409 }
2410 }
2411
2412 // add polygon to overall stats
2413 planes[3] = DotProduct(&iv[polygons[1]*3], planes);
2414 polygons += (polygons[0]+1);
2415 planes += 4;
2416 numplanes++;
2417 }
2418 Mem_Free(used);
2419 // save points
2420 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2421 if (mapped[vertexindex])
2422 numpoints++;
2423 pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
2424 for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
2425 {
2426 if (mapped[vertexindex])
2427 {
2428 VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
2429 numpoints++;
2430 }
2431 }
2432 Mem_Free(mapped);
2433 Con_Printf("Points: \n");
2434 for (i = 0; i < (int)numpoints; i++)
2435 Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
2436 // save planes
2437 planes = planesData;
2438 planesData = pointsData + numpoints*3;
2439 memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
2440 Mem_Free(planes);
2441 Con_Printf("planes...\n");
2442 for (i = 0; i < numplanes; i++)
2443 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]);
2444 // save polygons
2445 polyvert = polygons - polygonsData;
2446 polygons = polygonsData;
2447 polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
2448 memcpy(polygonsData, polygons, polyvert*sizeof(int));
2449 Mem_Free(polygons);
2450 Con_Printf("Polygons: \n");
2451 polygons = polygonsData;
2452 for (i = 0; i < numplanes; i++)
2453 {
2454 Con_Printf("%3i : %i ", i, polygons[0]);
2455 for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
2456 Con_Printf("%3i ", polygons[triangleindex]);
2457 polygons += (polygons[0]+1);
2458 Con_Printf("\n");
2459 }
2460 Mem_Free(ed->priv.server->ode_element3i);
2461 ed->priv.server->ode_element3i = (int *)polygonsData;
2462 Mem_Free(ed->priv.server->ode_vertex3f);
2463 ed->priv.server->ode_vertex3f = (float *)pointsData;
2464 // check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
2465 // this code is picked from ODE Source
2466 Con_Printf("Check...\n");
2467 polygons = polygonsData;
2468 for (i = 0; i < numplanes; i++)
2469 {
2470 if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
2471 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
2472 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
2473 pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
2474 pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
2475 pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
2476 Con_Printf(CON_WARN "WARNING: Polygon %d is not defined counterclockwise\n", i);
2477 if (planesData[(i*4)+3] < 0)
2478 Con_Printf(CON_WARN "WARNING: Plane %d does not contain the origin\n", i);
2479 polygons += (*polygons + 1);
2480 }
2481 // create geom
2482 Con_Printf("Create geom...\n");
2483 ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
2484 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2485 Con_Printf("Done!\n");
2486 }
2487 break;
2488 case GEOMTYPE_BOX:
2489treatasbox:
2490 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2491 ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
2492 dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2493 break;
2494 case GEOMTYPE_SPHERE:
2495 Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2496 ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
2497 dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
2498 break;
2499 case GEOMTYPE_CAPSULE:
2500 axisindex = 0;
2501 if (geomsize[axisindex] < geomsize[1])
2502 axisindex = 1;
2503 if (geomsize[axisindex] < geomsize[2])
2504 axisindex = 2;
2505 // the qc gives us 3 axis radius, the longest axis is the capsule
2506 // axis, since ODE doesn't like this idea we have to create a
2507 // capsule which uses the standard orientation, and apply a
2508 // transform to it
2509 if (axisindex == 0)
2510 {
2511 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2512 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2513 }
2514 else if (axisindex == 1)
2515 {
2516 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2517 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2518 }
2519 else
2520 {
2521 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2522 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2523 }
2524 length = geomsize[axisindex] - radius*2;
2525 // because we want to support more than one axisindex, we have to
2526 // create a transform, and turn on its cleanup setting (which will
2527 // cause the child to be destroyed when it is destroyed)
2528 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2529 dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
2530 break;
2531 case GEOMTYPE_CAPSULE_X:
2532 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2533 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2534 length = geomsize[0] - radius*2;
2535 // check if length is not enough, reduce radius then
2536 if (length <= 0)
2537 {
2538 radius -= (1 - length)*0.5;
2539 length = 1;
2540 }
2541 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2542 dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
2543 break;
2544 case GEOMTYPE_CAPSULE_Y:
2545 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2546 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2547 length = geomsize[1] - radius*2;
2548 // check if length is not enough, reduce radius then
2549 if (length <= 0)
2550 {
2551 radius -= (1 - length)*0.5;
2552 length = 1;
2553 }
2554 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2555 dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
2556 break;
2557 case GEOMTYPE_CAPSULE_Z:
2558 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2559 radius = min(geomsize[1], geomsize[0]) * 0.5f;
2560 length = geomsize[2] - radius*2;
2561 // check if length is not enough, reduce radius then
2562 if (length <= 0)
2563 {
2564 radius -= (1 - length)*0.5;
2565 length = 1;
2566 }
2567 ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
2568 dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
2569 break;
2570 case GEOMTYPE_CYLINDER:
2571 axisindex = 0;
2572 if (geomsize[axisindex] < geomsize[1])
2573 axisindex = 1;
2574 if (geomsize[axisindex] < geomsize[2])
2575 axisindex = 2;
2576 // the qc gives us 3 axis radius, the longest axis is the capsule
2577 // axis, since ODE doesn't like this idea we have to create a
2578 // capsule which uses the standard orientation, and apply a
2579 // transform to it
2580 if (axisindex == 0)
2581 {
2582 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2583 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2584 }
2585 else if (axisindex == 1)
2586 {
2587 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2588 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2589 }
2590 else
2591 {
2592 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2593 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2594 }
2595 length = geomsize[axisindex];
2596 // check if length is not enough, reduce radius then
2597 if (length <= 0)
2598 {
2599 radius -= (1 - length)*0.5;
2600 length = 1;
2601 }
2602 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2603 dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
2604 break;
2605 case GEOMTYPE_CYLINDER_X:
2606 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2607 radius = min(geomsize[1], geomsize[2]) * 0.5f;
2608 length = geomsize[0];
2609 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2610 dMassSetCylinderTotal(&mass, massval, 1, radius, length);
2611 break;
2612 case GEOMTYPE_CYLINDER_Y:
2613 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2614 radius = min(geomsize[0], geomsize[2]) * 0.5f;
2615 length = geomsize[1];
2616 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2617 dMassSetCylinderTotal(&mass, massval, 2, radius, length);
2618 break;
2619 case GEOMTYPE_CYLINDER_Z:
2620 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2621 radius = min(geomsize[0], geomsize[1]) * 0.5f;
2622 length = geomsize[2];
2623 ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
2624 dMassSetCylinderTotal(&mass, massval, 3, radius, length);
2625 break;
2626 default:
2627 Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
2628 // this goto only exists to prevent warnings from the compiler
2629 // about uninitialized variables (mass), while allowing it to
2630 // catch legitimate uninitialized variable warnings
2631 goto treatasbox;
2632 }
2633 ed->priv.server->ode_mass = massval;
2634 ed->priv.server->ode_modelindex = modelindex;
2635 VectorCopy(entmins, ed->priv.server->ode_mins);
2636 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
2637 VectorCopy(scale, ed->priv.server->ode_scale);
2638 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
2639 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
2640 ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
2641 memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
2642 }
2643
2644 if (ed->priv.server->ode_geom)
2645 dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
2646 if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
2647 {
2648 // entity is dynamic
2649 if (ed->priv.server->ode_body == NULL)
2650 {
2651 ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
2652 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2653 dBodySetData(body, (void*)ed);
2654 dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
2655 modified = true;
2656 }
2657 }
2658 else
2659 {
2660 // entity is deactivated
2661 if (ed->priv.server->ode_body != NULL)
2662 {
2663 if(ed->priv.server->ode_geom)
2664 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2665 dBodyDestroy((dBodyID) ed->priv.server->ode_body);
2666 ed->priv.server->ode_body = NULL;
2667 modified = true;
2668 }
2669 }
2670
2671 // get current data from entity
2672 VectorClear(origin);
2673 VectorClear(velocity);
2674 //VectorClear(forward);
2675 //VectorClear(left);
2676 //VectorClear(up);
2677 //VectorClear(spinvelocity);
2678 VectorClear(angles);
2679 VectorClear(avelocity);
2680 gravity = true;
2681 VectorCopy(PRVM_gameedictvector(ed, origin), origin);
2682 VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
2683 //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
2684 //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
2685 //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
2686 //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
2687 VectorCopy(PRVM_gameedictvector(ed, angles), angles);
2688 VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
2689 if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
2690 if (ed == prog->edicts)
2691 gravity = false;
2692
2693 // compatibility for legacy entities
2694 //if (!VectorLength2(forward) || solid == SOLID_BSP)
2695 {
2696 float pitchsign = 1;
2697 vec3_t qangles, qavelocity;
2698 VectorCopy(angles, qangles);
2699 VectorCopy(avelocity, qavelocity);
2700
2701 if(prog == SVVM_prog) // FIXME some better way?
2702 {
2703 pitchsign = SV_GetPitchSign(prog, ed);
2704 }
2705 else if(prog == CLVM_prog)
2706 {
2707 pitchsign = CL_GetPitchSign(prog, ed);
2708 }
2709 qangles[PITCH] *= pitchsign;
2710 qavelocity[PITCH] *= pitchsign;
2711
2712 AngleVectorsFLU(qangles, forward, left, up);
2713 // convert single-axis rotations in avelocity to spinvelocity
2714 // FIXME: untested math - check signs
2715 VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
2716 }
2717
2718 // compatibility for legacy entities
2719 switch (solid)
2720 {
2721 case SOLID_BBOX:
2722 case SOLID_SLIDEBOX:
2723 case SOLID_CORPSE:
2724 VectorSet(forward, 1, 0, 0);
2725 VectorSet(left, 0, 1, 0);
2726 VectorSet(up, 0, 0, 1);
2727 VectorSet(spinvelocity, 0, 0, 0);
2728 break;
2729 }
2730
2731
2732 // we must prevent NANs...
2733 if (physics_ode_trick_fixnan.integer)
2734 {
2735 test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
2736 if (isnan(test))
2737 {
2738 modified = true;
2739 //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]);
2740 if (physics_ode_trick_fixnan.integer >= 2)
2741 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]);
2742 test = VectorLength2(origin);
2743 if (isnan(test))
2744 VectorClear(origin);
2745 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
2746 if (isnan(test))
2747 {
2748 VectorSet(angles, 0, 0, 0);
2749 VectorSet(forward, 1, 0, 0);
2750 VectorSet(left, 0, 1, 0);
2751 VectorSet(up, 0, 0, 1);
2752 }
2753 test = VectorLength2(velocity);
2754 if (isnan(test))
2755 VectorClear(velocity);
2756 test = VectorLength2(spinvelocity);
2757 if (isnan(test))
2758 {
2759 VectorClear(avelocity);
2760 VectorClear(spinvelocity);
2761 }
2762 }
2763 }
2764
2765 // check if the qc edited any position data
2766 if (!VectorCompare(origin, ed->priv.server->ode_origin)
2767 || !VectorCompare(velocity, ed->priv.server->ode_velocity)
2768 || !VectorCompare(angles, ed->priv.server->ode_angles)
2769 || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
2770 || gravity != ed->priv.server->ode_gravity)
2771 modified = true;
2772
2773 // store the qc values into the physics engine
2774 body = (dBodyID)ed->priv.server->ode_body;
2775 if (modified && ed->priv.server->ode_geom)
2776 {
2777 dVector3 r[3];
2778 matrix4x4_t entitymatrix;
2779 matrix4x4_t bodymatrix;
2780
2781#if 0
2782 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
2783 if(!VectorCompare(origin, ed->priv.server->ode_origin))
2784 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]);
2785 if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
2786 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]);
2787 if(!VectorCompare(angles, ed->priv.server->ode_angles))
2788 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]);
2789 if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
2790 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]);
2791 if(gravity != ed->priv.server->ode_gravity)
2792 Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
2793#endif
2794 // values for BodyFromEntity to check if the qc modified anything later
2795 VectorCopy(origin, ed->priv.server->ode_origin);
2796 VectorCopy(velocity, ed->priv.server->ode_velocity);
2797 VectorCopy(angles, ed->priv.server->ode_angles);
2798 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
2799 ed->priv.server->ode_gravity = gravity;
2800
2801 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
2802 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
2803 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
2804 r[0][0] = forward[0];
2805 r[1][0] = forward[1];
2806 r[2][0] = forward[2];
2807 r[0][1] = left[0];
2808 r[1][1] = left[1];
2809 r[2][1] = left[2];
2810 r[0][2] = up[0];
2811 r[1][2] = up[1];
2812 r[2][2] = up[2];
2813 if (body)
2814 {
2815 if (movetype == MOVETYPE_PHYSICS)
2816 {
2817 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2818 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2819 dBodySetRotation(body, r[0]);
2820 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2821 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2822 dBodySetGravityMode(body, gravity);
2823 }
2824 else
2825 {
2826 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
2827 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2828 dBodySetRotation(body, r[0]);
2829 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2830 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2831 dBodySetGravityMode(body, gravity);
2832 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
2833 }
2834 }
2835 else
2836 {
2837 // no body... then let's adjust the parameters of the geom directly
2838 dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
2839 dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
2840 dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
2841 }
2842 }
2843
2844 if (body)
2845 {
2846
2847 // limit movement speed to prevent missed collisions at high speed
2848 ovelocity = dBodyGetLinearVel(body);
2849 ospinvelocity = dBodyGetAngularVel(body);
2850 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
2851 test = VectorLength2(ovelocity);
2852 if (test > movelimit*movelimit)
2853 {
2854 // scale down linear velocity to the movelimit
2855 // scale down angular velocity the same amount for consistency
2856 f = movelimit / sqrt(test);
2857 VectorScale(ovelocity, f, velocity);
2858 VectorScale(ospinvelocity, f, spinvelocity);
2859 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2860 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2861 }
2862
2863 // make sure the angular velocity is not exploding
2864 spinlimit = physics_ode_spinlimit.value;
2865 test = VectorLength2(ospinvelocity);
2866 if (test > spinlimit)
2867 {
2868 dBodySetAngularVel(body, 0, 0, 0);
2869 }
2870
2871 // apply functions and clear stack
2872 for(func = ed->priv.server->ode_func; func; func = nextf)
2873 {
2874 nextf = func->next;
2875 World_Physics_ApplyCmd(ed, func);
2876 Mem_Free(func);
2877 }
2878 ed->priv.server->ode_func = NULL;
2879 }
2880}
2881
2882#define MAX_CONTACTS 32
2883static void nearCallback (void *data, dGeomID o1, dGeomID o2)
2884{
2885 world_t *world = (world_t *)data;
2886 prvm_prog_t *prog = world->prog;
2887 dContact contact[MAX_CONTACTS]; // max contacts per collision pair
2888 int b1enabled = 0, b2enabled = 0;
2889 dBodyID b1, b2;
2890 dJointID c;
2891 int i;
2892 int numcontacts;
2893 float bouncefactor1 = 0.0f;
2894 float bouncestop1 = 60.0f / 800.0f;
2895 float bouncefactor2 = 0.0f;
2896 float bouncestop2 = 60.0f / 800.0f;
2897 float erp;
2898 dVector3 grav;
2899 prvm_edict_t *ed1, *ed2;
2900
2901 if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
2902 {
2903 // colliding a space with something
2904 dSpaceCollide2(o1, o2, data, &nearCallback);
2905 // Note we do not want to test intersections within a space,
2906 // only between spaces.
2907 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2908 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2909 return;
2910 }
2911
2912 b1 = dGeomGetBody(o1);
2913 if (b1)
2914 b1enabled = dBodyIsEnabled(b1);
2915 b2 = dGeomGetBody(o2);
2916 if (b2)
2917 b2enabled = dBodyIsEnabled(b2);
2918
2919 // at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
2920 if (!b1enabled && !b2enabled)
2921 return;
2922
2923 // exit without doing anything if the two bodies are connected by a joint
2924 if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2925 return;
2926
2927 ed1 = (prvm_edict_t *) dGeomGetData(o1);
2928 if(ed1 && ed1->free)
2929 ed1 = NULL;
2930 if(ed1)
2931 {
2932 bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
2933 bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
2934 if (!bouncestop1)
2935 bouncestop1 = 60.0f / 800.0f;
2936 }
2937
2938 ed2 = (prvm_edict_t *) dGeomGetData(o2);
2939 if(ed2 && ed2->free)
2940 ed2 = NULL;
2941 if(ed2)
2942 {
2943 bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
2944 bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
2945 if (!bouncestop2)
2946 bouncestop2 = 60.0f / 800.0f;
2947 }
2948
2949 if(prog == SVVM_prog)
2950 {
2951 if(ed1 && PRVM_serveredictfunction(ed1, touch))
2952 {
2953 SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
2954 }
2955 if(ed2 && PRVM_serveredictfunction(ed2, touch))
2956 {
2957 SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
2958 }
2959 }
2960
2961 // merge bounce factors and bounce stop
2962 if(bouncefactor2 > 0)
2963 {
2964 if(bouncefactor1 > 0)
2965 {
2966 // TODO possibly better logic to merge bounce factor data?
2967 if(bouncestop2 < bouncestop1)
2968 bouncestop1 = bouncestop2;
2969 if(bouncefactor2 > bouncefactor1)
2970 bouncefactor1 = bouncefactor2;
2971 }
2972 else
2973 {
2974 bouncestop1 = bouncestop2;
2975 bouncefactor1 = bouncefactor2;
2976 }
2977 }
2978 dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
2979 bouncestop1 *= fabs(grav[2]);
2980
2981 // get erp
2982 // select object that moves faster ang get it's erp
2983 erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
2984
2985 // get max contact points for this collision
2986 numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
2987 if (!numcontacts)
2988 numcontacts = physics_ode_contact_maxpoints.integer;
2989 if (PRVM_gameedictfloat(ed2, maxcontacts))
2990 numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
2991 else
2992 numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
2993
2994 // generate contact points between the two non-space geoms
2995 numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
2996 // add these contact points to the simulation
2997 for (i = 0;i < numcontacts;i++)
2998 {
2999 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);
3000 contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
3001 contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp;
3002 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
3003 contact[i].surface.bounce = bouncefactor1;
3004 contact[i].surface.bounce_vel = bouncestop1;
3005 c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
3006 dJointAttach(c, b1, b2);
3007 }
3008}
3009
3010void World_Physics_Frame(world_t *world, double frametime, double gravity)
3011{
3012 prvm_prog_t *prog = world->prog;
3013 double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
3014
3015 tdelta = Sys_DirtyTime();
3016 if (world->physics.ode && physics_ode.integer)
3017 {
3018 int i;
3019 prvm_edict_t *ed;
3020
3021 if (!physics_ode_constantstep.value)
3022 {
3023 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
3024 world->physics.ode_step = frametime / world->physics.ode_iterations;
3025 }
3026 else
3027 {
3028 world->physics.ode_time += frametime;
3029 // step size
3030 if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
3031 world->physics.ode_step = physics_ode_constantstep.value;
3032 else
3033 world->physics.ode_step = sys_ticrate.value;
3034 if (world->physics.ode_time > 0.2f)
3035 world->physics.ode_time = world->physics.ode_step;
3036 // set number of iterations to process
3037 world->physics.ode_iterations = 0;
3038 while(world->physics.ode_time >= world->physics.ode_step)
3039 {
3040 world->physics.ode_iterations++;
3041 world->physics.ode_time -= world->physics.ode_step;
3042 }
3043 }
3044 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
3045 World_Physics_UpdateODE(world);
3046
3047 // copy physics properties from entities to physics engine
3048 if (prog)
3049 {
3050 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3051 if (!prog->edicts[i].free)
3052 World_Physics_Frame_BodyFromEntity(world, ed);
3053 // oh, and it must be called after all bodies were created
3054 for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3055 if (!prog->edicts[i].free)
3056 World_Physics_Frame_JointFromEntity(world, ed);
3057 }
3058
3059 tdelta2 = Sys_DirtyTime();
3060 collisiontime = 0;
3061 for (i = 0;i < world->physics.ode_iterations;i++)
3062 {
3063 // set the gravity
3064 dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
3065 // set the tolerance for closeness of objects
3066 dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
3067 // run collisions for the current world state, creating JointGroup
3068 tdelta3 = Sys_DirtyTime();
3069 dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
3070 collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
3071 // apply forces
3072 if (prog)
3073 {
3074 int j;
3075 for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
3076 if (!prog->edicts[j].free)
3077 World_Physics_Frame_ForceFromEntity(world, ed);
3078 }
3079 // run physics (move objects, calculate new velocities)
3080 // be sure not to pass 0 as step time because that causes an ODE error
3081 dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
3082 if (world->physics.ode_step > 0)
3083 dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
3084 // clear the JointGroup now that we're done with it
3085 dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
3086 }
3087 simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
3088
3089 // copy physics properties from physics engine to entities and do some stats
3090 if (prog)
3091 {
3092 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3093 if (!prog->edicts[i].free)
3094 World_Physics_Frame_BodyToEntity(world, ed);
3095
3096 // print stats
3097 if (physics_ode_printstats.integer)
3098 {
3099 dBodyID body;
3100
3101 world->physics.ode_numobjects = 0;
3102 world->physics.ode_activeovjects = 0;
3103 for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
3104 {
3105 if (prog->edicts[i].free)
3106 continue;
3107 body = (dBodyID)prog->edicts[i].priv.server->ode_body;
3108 if (!body)
3109 continue;
3110 world->physics.ode_numobjects++;
3111 if (dBodyIsEnabled(body))
3112 world->physics.ode_activeovjects++;
3113 }
3114 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));
3115 }
3116 }
3117 }
3118}
3119#endif
CL_GetModelByIndex
model_t * CL_GetModelByIndex(int modelindex)
Definition cl_collision.c:86
cl_collision.h
cl
client_state_t cl
Definition cl_main.c:117
CL_GetPitchSign
int CL_GetPitchSign(prvm_prog_t *prog, prvm_edict_t *ent)
Definition clvm_cmds.c:3222
clvm_cmds.h
CF_SERVER
#define CF_SERVER
cvar/command that only the server can change/execute
Definition cmd.h:49
CF_CLIENT
#define CF_CLIENT
cvar/command that only the client can change/execute
Definition cmd.h:48
Collision_Init
void Collision_Init(void)
Definition collision.c:25
com_list.h
List_Entry
#define List_Entry(ptr, type, member)
Definition com_list.h:44
List_Add_Tail
static void List_Add_Tail(llist_t *node, llist_t *head)
Definition com_list.h:249
List_Delete
static void List_Delete(llist_t *node)
Definition com_list.h:274
List_For_Each_Entry
#define List_For_Each_Entry(pos, head, type, member)
Definition com_list.h:121
dp_strlcpy
#define dp_strlcpy(dst, src, dsize)
Definition common.h:303
Con_DPrintf
void Con_DPrintf(const char *fmt,...)
A Con_Printf that only shows up if the "developer" cvar is set.
Definition console.c:1544
Con_Printf
void Con_Printf(const char *fmt,...)
Prints to all appropriate console targets.
Definition console.c:1514
CON_WARN
#define CON_WARN
Definition console.h:101
classname
string classname
Definition csprogsdefs.qc:111
movetype
float movetype
Definition csprogsdefs.qc:102
flags
float flags
Definition csprogsdefs.qc:133
modelindex
float modelindex
Definition csprogsdefs.qc:95
avelocity
vector avelocity
Definition csprogsdefs.qc:109
frametime
float frametime
Definition csprogsdefs.qc:17
mins
vector mins
Definition csprogsdefs.qc:117
velocity
vector velocity
Definition csprogsdefs.qc:107
world
entity world
Definition csprogsdefs.qc:15
void
void() predraw
time
float time
Definition csprogsdefs.qc:16
maxs
vector maxs
Definition csprogsdefs.qc:117
enemy
entity enemy
Definition csprogsdefs.qc:131
angles
vector angles
Definition csprogsdefs.qc:108
origin
vector origin
Definition csprogsdefs.qc:105
model
string model
Definition csprogsdefs.qc:112
solid
float solid
Definition csprogsdefs.qc:103
Cvar_RegisterVariable
void Cvar_RegisterVariable(cvar_t *variable)
registers a cvar that already has the name, string, and optionally the archive elements set.
Definition cvar.c:599
GEOMTYPE_TRIMESH
const float GEOMTYPE_TRIMESH
Definition dpextensions.qc:1720
GEOMTYPE_BOX
const float GEOMTYPE_BOX
Definition dpextensions.qc:1717
JOINTTYPE_SLIDER
const float JOINTTYPE_SLIDER
Definition dpextensions.qc:1734
JOINTTYPE_NONE
const float JOINTTYPE_NONE
Definition dpextensions.qc:1731
JOINTTYPE_FIXED
const float JOINTTYPE_FIXED
Definition dpextensions.qc:1737
scale
float scale
Definition dpextensions.qc:282
GEOMTYPE_CYLINDER_Y
const float GEOMTYPE_CYLINDER_Y
Definition dpextensions.qc:1728
GEOMTYPE_CAPSULE_Y
const float GEOMTYPE_CAPSULE_Y
Definition dpextensions.qc:1725
erp
float erp
Definition dpextensions.qc:1768
FORCETYPE_FORCE
const float FORCETYPE_FORCE
Definition dpextensions.qc:1740
GEOMTYPE_CYLINDER_Z
const float GEOMTYPE_CYLINDER_Z
Definition dpextensions.qc:1729
friction
float friction
Definition dpextensions.qc:1763
FORCETYPE_NONE
const float FORCETYPE_NONE
Definition dpextensions.qc:1739
JOINTTYPE_UNIVERSAL
const float JOINTTYPE_UNIVERSAL
Definition dpextensions.qc:1735
FORCETYPE_TORQUE
const float FORCETYPE_TORQUE
Definition dpextensions.qc:1742
JOINTTYPE_POINT
const float JOINTTYPE_POINT
Definition dpextensions.qc:1732
GEOMTYPE_CAPSULE_X
const float GEOMTYPE_CAPSULE_X
Definition dpextensions.qc:1724
mass
float mass
Definition dpextensions.qc:1761
GEOMTYPE_SPHERE
const float GEOMTYPE_SPHERE
Definition dpextensions.qc:1718
forcetype
float forcetype
Definition dpextensions.qc:1767
JOINTTYPE_HINGE
const float JOINTTYPE_HINGE
Definition dpextensions.qc:1733
jointtype
float jointtype
Definition dpextensions.qc:1766
massofs
vector massofs
Definition dpextensions.qc:1762
bouncefactor
float bouncefactor
Definition dpextensions.qc:1440
maxcontacts
float maxcontacts
Definition dpextensions.qc:1760
FORCETYPE_FORCEATPOS
const float FORCETYPE_FORCEATPOS
Definition dpextensions.qc:1741
GEOMTYPE_NONE
const float GEOMTYPE_NONE
Definition dpextensions.qc:1715
GEOMTYPE_CYLINDER_X
const float GEOMTYPE_CYLINDER_X
Definition dpextensions.qc:1727
JOINTTYPE_HINGE2
const float JOINTTYPE_HINGE2
Definition dpextensions.qc:1736
geomtype
float geomtype
Definition dpextensions.qc:1759
GEOMTYPE_CAPSULE_Z
const float GEOMTYPE_CAPSULE_Z
Definition dpextensions.qc:1726
GEOMTYPE_CAPSULE
const float GEOMTYPE_CAPSULE
Definition dpextensions.qc:1719
GEOMTYPE_CYLINDER
const float GEOMTYPE_CYLINDER
Definition dpextensions.qc:1721
bouncestop
float bouncestop
Definition dpextensions.qc:1441
int
static int(ZEXPORT *qz_inflate)(z_stream *strm
z
GLubyte GLubyte GLubyte z
Definition glquake.h:782
w
GLubyte GLubyte GLubyte GLubyte w
Definition glquake.h:782
mode
GLenum mode
Definition glquake.h:718
value
GLsizei const GLfloat * value
Definition glquake.h:740
length
GLenum GLuint GLenum GLsizei length
Definition glquake.h:657
obj
GLuint obj
Definition glquake.h:627
v
const GLdouble * v
Definition glquake.h:762
y
GLint GLenum GLint GLint y
Definition glquake.h:651
depth
GLint GLenum GLsizei GLsizei GLsizei depth
Definition glquake.h:648
x
GLint GLenum GLint x
Definition glquake.h:651
data
GLsizeiptr const GLvoid * data
Definition glquake.h:639
index
GLuint index
Definition glquake.h:629
developer_extra
cvar_t developer_extra
Definition host.c:49
Data
unsigned char * Data
Definition image_png.c:240
AnglesFromVectors
void AnglesFromVectors(vec3_t angles, const vec3_t forward, const vec3_t up, qbool flippitch)
LadyHavoc: calculates pitch/yaw/roll angles from forward and up vectors.
Definition mathlib.c:650
AngleVectorsFLU
void AngleVectorsFLU(const vec3_t angles, vec3_t forward, vec3_t left, vec3_t up)
LadyHavoc: proper matrix version of AngleVectors.
Definition mathlib.c:498
max
#define max(A, B)
Definition mathlib.h:38
VectorNegate
#define VectorNegate(a, b)
Definition mathlib.h:95
min
#define min(A, B)
Definition mathlib.h:37
BoxesOverlap
#define BoxesOverlap(a, b, c, d)
Definition mathlib.h:122
VectorNormalize
#define VectorNormalize(v)
Definition mathlib.h:104
DEG2RAD
#define DEG2RAD(a)
Definition mathlib.h:65
VectorClear
#define VectorClear(a)
Definition mathlib.h:97
bound
#define bound(min, num, max)
Definition mathlib.h:34
RAD2DEG
#define RAD2DEG(a)
Definition mathlib.h:66
VectorLength2
#define VectorLength2(a)
Definition mathlib.h:110
VectorSet
#define VectorSet(vec, x, y, z)
Definition mathlib.h:96
VectorSubtract
#define VectorSubtract(a, b, out)
Definition mathlib.h:99
VectorCompare
#define VectorCompare(a, b)
Definition mathlib.h:113
TriangleNormal
#define TriangleNormal(a, b, c, n)
Definition mathlib.h:126
DotProduct
#define DotProduct(a, b)
Definition mathlib.h:98
VectorCopy
#define VectorCopy(in, out)
Definition mathlib.h:101
VectorScale
#define VectorScale(in, scale, out)
Definition mathlib.h:111
VectorMAM
#define VectorMAM(scale1, b1, scale2, b2, out)
Definition mathlib.h:116
Matrix4x4_Concat
void Matrix4x4_Concat(matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
Definition matrixlib.c:83
Matrix4x4_CreateTranslate
void Matrix4x4_CreateTranslate(matrix4x4_t *out, double x, double y, double z)
Definition matrixlib.c:584
Matrix4x4_CreateFromQuakeEntity
void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
Definition matrixlib.c:715
Matrix4x4_Invert_Simple
void Matrix4x4_Invert_Simple(matrix4x4_t *out, const matrix4x4_t *in1)
Definition matrixlib.c:422
Matrix4x4_FromVectors
void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
Definition matrixlib.c:970
Matrix4x4_ToVectors
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
Definition matrixlib.c:939
sqrt
float sqrt(float f)
fabs
float fabs(float f)
floor
float floor(float f)
Mod_CreateCollisionMesh
void Mod_CreateCollisionMesh(model_t *mod)
Definition model_shared.c:1196
ENTITYGRIDAREAS
#define ENTITYGRIDAREAS
Definition progs.h:27
aiment
entity aiment
Definition progsdefs.qc:187
movedir
vector movedir
Definition progsdefs.qc:203
PRVM_gameedictvector
#define PRVM_gameedictvector(ed, fieldname)
Definition progsvm.h:161
PRVM_gameedictfloat
#define PRVM_gameedictfloat(ed, fieldname)
Definition progsvm.h:160
CLVM_prog
#define CLVM_prog
Definition progsvm.h:767
PRVM_gameedictedict
#define PRVM_gameedictedict(ed, fieldname)
Definition progsvm.h:163
PRVM_gameedictstring
#define PRVM_gameedictstring(ed, fieldname)
Definition progsvm.h:162
PRVM_EDICT_NUM
#define PRVM_EDICT_NUM(n)
Definition progsvm.h:867
PRVM_GetString
const char * PRVM_GetString(prvm_prog_t *prog, int num)
Definition prvm_edict.c:3283
PRVM_NUM_FOR_EDICT
#define PRVM_NUM_FOR_EDICT(e)
Definition progsvm.h:870
PRVM_serveredictfloat
#define PRVM_serveredictfloat(ed, fieldname)
Definition progsvm.h:172
PRVM_serveredictfunction
#define PRVM_serveredictfunction(ed, fieldname)
Definition progsvm.h:176
SVVM_prog
#define SVVM_prog
Definition progsvm.h:766
i
int i
Definition prvm_execprogram.h:2
NULL
#define NULL
Definition qtypes.h:12
vec_t
float vec_t
Definition qtypes.h:68
vec3_t
vec_t vec3_t[3]
Definition qtypes.h:71
qbool
bool qbool
Definition qtypes.h:9
YAW
#define YAW
Definition qtypes.h:19
PITCH
#define PITCH
Definition qtypes.h:16
ROLL
#define ROLL
Definition qtypes.h:22
MOVETYPE_PHYSICS
#define MOVETYPE_PHYSICS
indicates this object is physics controlled
Definition server.h:326
sv
server_t sv
local server
Definition sv_main.c:223
SOLID_BBOX
#define SOLID_BBOX
touch on edge, block
Definition server.h:334
SOLID_SLIDEBOX
#define SOLID_SLIDEBOX
touch on edge, but not an onground
Definition server.h:335
SOLID_PHYSICS_BOX
#define SOLID_PHYSICS_BOX
physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity,...
Definition server.h:341
SOLID_PHYSICS_SPHERE
#define SOLID_PHYSICS_SPHERE
physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity,...
Definition server.h:342
SOLID_CORPSE
#define SOLID_CORPSE
same as SOLID_BBOX, except it behaves as SOLID_NOT against SOLID_SLIDEBOX objects (players/monsters)
Definition server.h:338
SV_LinkEdict_TouchAreaGrid_Call
void SV_LinkEdict_TouchAreaGrid_Call(prvm_edict_t *touch, prvm_edict_t *ent)
Definition sv_phys.c:705
SV_GetModelByIndex
model_t * SV_GetModelByIndex(int modelindex)
Definition sv_main.c:1607
MOVETYPE_NONE
#define MOVETYPE_NONE
never moves
Definition server.h:312
SOLID_PHYSICS_CAPSULE
#define SOLID_PHYSICS_CAPSULE
physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity,...
Definition server.h:343
SV_LinkEdict
void SV_LinkEdict(prvm_edict_t *ent)
Definition sv_phys.c:804
sys_ticrate
cvar_t sys_ticrate
Definition sv_main.c:166
SOLID_NOT
#define SOLID_NOT
no interaction with other objects
Definition server.h:332
sv_areagrid_mingridsize
cvar_t sv_areagrid_mingridsize
Definition sv_main.c:75
SV_GetPitchSign
int SV_GetPitchSign(prvm_prog_t *prog, prvm_edict_t *ent)
Definition sv_phys.c:47
SOLID_PHYSICS_CYLINDER
#define SOLID_PHYSICS_CYLINDER
physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity,...
Definition server.h:345
SOLID_TRIGGER
#define SOLID_TRIGGER
touch on edge, but not blocking
Definition server.h:333
SOLID_PHYSICS_TRIMESH
#define SOLID_PHYSICS_TRIMESH
physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity,...
Definition server.h:344
SOLID_BSP
#define SOLID_BSP
bsp clip, touch on edge, block
Definition server.h:336
SV_LinkEdict_TouchAreaGrid
void SV_LinkEdict_TouchAreaGrid(prvm_edict_t *ent)
Definition sv_phys.c:727
r
dp_FragColor r
Definition shader_glsl.h:381
g
dp_FragColor g
Definition shader_glsl.h:391
f
float f
Definition shader_glsl.h:592
Depth
dp_varying highp float Depth
Definition shader_glsl.h:774
normal
vec3 normal
Definition shader_glsl.h:581
b
dp_FragColor b
Definition shader_glsl.h:392
px
vec2 px
Definition shader_glsl.h:333
client_state_t::world
world_t world
Definition client.h:1122
cvar_t
Definition cvar.h:66
cvar_t::value
float value
Definition cvar.h:74
cvar_t::integer
int integer
Definition cvar.h:73
dllfunction_t
Definition sys.h:173
link_t
Definition world.h:38
link_t::entitynumber
int entitynumber
Definition world.h:40
link_t::list
llist_t list
Definition world.h:39
llist_t::prev
struct llist_s * prev
Definition com_list.h:32
llist_t::next
struct llist_s * next
Definition com_list.h:33
matrix4x4_t
Definition matrixlib.h:10
mempool_t
Definition zone.h:65
model_t
Definition model_shared.h:429
prvm_edict_t
Definition progsvm.h:91
prvm_edict_t::free
qbool free
true if this edict is unused
Definition progsvm.h:93
prvm_edict_t::priv
union prvm_edict_t::@29 priv
prvm_edict_t::server
struct edict_engineprivate_s * server
FIXME: this server pointer really means world, not server (it is used by both server qc and client qc...
Definition progsvm.h:106
prvm_prog_t
Definition progsvm.h:537
prvm_prog_t::name
const char * name
name of the prog, e.g. "Server", "Client" or "Menu" (used for text output)
Definition progsvm.h:700
prvm_prog_t::num_edicts
int num_edicts
copies of some vars that were former read from sv
Definition progsvm.h:671
prvm_prog_t::edicts
prvm_edict_t * edicts
Definition progsvm.h:680
prvm_prog_t::progs_mempool
mempool_t * progs_mempool
all memory allocations related to this vm_prog (code, edicts, strings)
Definition progsvm.h:602
prvm_prog_t::max_edicts
int max_edicts
number of edicts for which space has been (should be) allocated
Definition progsvm.h:673
server_t::world
world_t world
collision culling data
Definition server.h:106
world_t
Definition world.h:68
forward
static vec3_t forward
Definition sv_user.c:305
up
static vec3_t up
Definition sv_user.c:305
Sys_Error
void Sys_Error(const char *error,...) DP_FUNC_PRINTF(1) DP_FUNC_NORETURN
Causes the entire program to exit ASAP.
Definition sys_shared.c:724
dllhandle_t
void * dllhandle_t
Definition sys.h:169
Sys_LoadDependency
qbool Sys_LoadDependency(const char **dllnames, dllhandle_t *handle, const dllfunction_t *fcts)
Definition sys_shared.c:131
Sys_DirtyTime
double Sys_DirtyTime(void)
Definition sys_shared.c:417
Sys_FreeLibrary
void Sys_FreeLibrary(dllhandle_t *handle)
Definition sys_shared.c:245
World_LinkEdict_AreaGrid
static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
Definition world.c:280
World_EntitiesInBox
int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
Definition world.c:188
World_PrintAreaStats
void World_PrintAreaStats(world_t *world, const char *worldname)
Definition world.c:104
World_Init
void World_Init(void)
Definition world.c:38
World_InsertLinkBefore
void World_InsertLinkBefore(link_t *l, link_t *before, int entitynumber)
Definition world.c:90
World_ClearLink
void World_ClearLink(link_t *l)
World_ClearLink is used for new headnodes.
Definition world.c:79
World_SetSize
void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
Definition world.c:118
World_UnlinkAll
void World_UnlinkAll(world_t *world)
unlinks all entities (used before reallocation of edicts)
Definition world.c:159
World_UnlinkEdict
void World_UnlinkEdict(prvm_edict_t *ent)
Definition world.c:178
World_RemoveLink
void World_RemoveLink(link_t *l)
Definition world.c:85
World_LinkEdict
void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs, qbool link_solid_not)
Definition world.c:320
World_Start
void World_Start(world_t *world)
Definition world.c:59
World_End
void World_End(world_t *world)
Definition world.c:69
World_Shutdown
void World_Shutdown(void)
Definition world.c:49
World_Physics_ApplyCmd
void World_Physics_ApplyCmd(struct prvm_edict_s *ed, struct edict_odefunc_s *f)
World_Physics_RemoveJointFromEntity
void World_Physics_RemoveJointFromEntity(world_t *world, struct prvm_edict_s *ed)
AREA_GRIDNODES
#define AREA_GRIDNODES
Definition world.h:35
World_Physics_Frame
void World_Physics_Frame(world_t *world, double frametime, double gravity)
AREA_GRID
#define AREA_GRID
Definition world.h:34
World_Physics_RemoveFromEntity
void World_Physics_RemoveFromEntity(world_t *world, struct prvm_edict_s *ed)
Mem_Free
#define Mem_Free(mem)
Definition zone.h:96
Mem_Alloc
#define Mem_Alloc(pool, size)
Definition zone.h:92