3124 lines
145 KiB
C
3124 lines
145 KiB
C
/*
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Copyright (C) 1996-1997 Id Software, Inc.
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*/
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// world.c -- world query functions
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#include "quakedef.h"
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#include "clvm_cmds.h"
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#include "cl_collision.h"
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/*
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entities never clip against themselves, or their owner
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line of sight checks trace->inopen and trace->inwater, but bullets don't
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*/
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static void World_Physics_Init(void);
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void World_Init(void)
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{
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Collision_Init();
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World_Physics_Init();
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}
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static void World_Physics_Shutdown(void);
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void World_Shutdown(void)
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{
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World_Physics_Shutdown();
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}
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static void World_Physics_Start(world_t *world);
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void World_Start(world_t *world)
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{
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World_Physics_Start(world);
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}
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static void World_Physics_End(world_t *world);
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void World_End(world_t *world)
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{
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World_Physics_End(world);
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}
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//============================================================================
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/// World_ClearLink is used for new headnodes
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void World_ClearLink (link_t *l)
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{
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l->entitynumber = 0;
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l->prev = l->next = l;
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}
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void World_RemoveLink (link_t *l)
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{
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l->next->prev = l->prev;
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l->prev->next = l->next;
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}
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void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
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{
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l->entitynumber = entitynumber;
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l->next = before;
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l->prev = before->prev;
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l->prev->next = l;
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l->next->prev = l;
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}
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/*
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===============================================================================
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ENTITY AREA CHECKING
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===============================================================================
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*/
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void World_PrintAreaStats(world_t *world, const char *worldname)
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{
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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);
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world->areagrid_stats_calls = 0;
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world->areagrid_stats_nodechecks = 0;
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world->areagrid_stats_entitychecks = 0;
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}
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/*
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===============
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World_SetSize
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===============
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*/
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void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs, prvm_prog_t *prog)
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{
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int i;
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strlcpy(world->filename, filename, sizeof(world->filename));
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VectorCopy(mins, world->mins);
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VectorCopy(maxs, world->maxs);
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world->prog = prog;
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// the areagrid_marknumber is not allowed to be 0
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if (world->areagrid_marknumber < 1)
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world->areagrid_marknumber = 1;
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// choose either the world box size, or a larger box to ensure the grid isn't too fine
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world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
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world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
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world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
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// figure out the corners of such a box, centered at the center of the world box
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world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
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world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
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world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
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world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
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world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
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world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
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// now calculate the actual useful info from that
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VectorNegate(world->areagrid_mins, world->areagrid_bias);
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world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
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world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
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world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
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World_ClearLink(&world->areagrid_outside);
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for (i = 0;i < AREA_GRIDNODES;i++)
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World_ClearLink(&world->areagrid[i]);
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if (developer_extra.integer)
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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);
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}
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/*
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===============
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World_UnlinkAll
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===============
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*/
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void World_UnlinkAll(world_t *world)
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{
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prvm_prog_t *prog = world->prog;
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int i;
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link_t *grid;
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// unlink all entities one by one
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grid = &world->areagrid_outside;
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while (grid->next != grid)
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World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
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for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
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while (grid->next != grid)
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World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
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}
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/*
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===============
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===============
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*/
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void World_UnlinkEdict(prvm_edict_t *ent)
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{
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int i;
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for (i = 0;i < ENTITYGRIDAREAS;i++)
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{
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if (ent->priv.server->areagrid[i].prev)
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{
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World_RemoveLink (&ent->priv.server->areagrid[i]);
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ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
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}
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}
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}
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int World_EntitiesInBox(world_t *world, const vec3_t requestmins, const vec3_t requestmaxs, int maxlist, prvm_edict_t **list)
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{
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prvm_prog_t *prog = world->prog;
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int numlist;
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link_t *grid;
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link_t *l;
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prvm_edict_t *ent;
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vec3_t paddedmins, paddedmaxs;
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int igrid[3], igridmins[3], igridmaxs[3];
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// LordHavoc: discovered this actually causes its own bugs (dm6 teleporters being too close to info_teleport_destination)
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//VectorSet(paddedmins, requestmins[0] - 1.0f, requestmins[1] - 1.0f, requestmins[2] - 1.0f);
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//VectorSet(paddedmaxs, requestmaxs[0] + 1.0f, requestmaxs[1] + 1.0f, requestmaxs[2] + 1.0f);
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VectorCopy(requestmins, paddedmins);
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VectorCopy(requestmaxs, paddedmaxs);
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// FIXME: if areagrid_marknumber wraps, all entities need their
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// ent->priv.server->areagridmarknumber reset
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world->areagrid_stats_calls++;
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world->areagrid_marknumber++;
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igridmins[0] = (int) floor((paddedmins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
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igridmins[1] = (int) floor((paddedmins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
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//igridmins[2] = (int) ((paddedmins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
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igridmaxs[0] = (int) floor((paddedmaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
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igridmaxs[1] = (int) floor((paddedmaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
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//igridmaxs[2] = (int) ((paddedmaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
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igridmins[0] = max(0, igridmins[0]);
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igridmins[1] = max(0, igridmins[1]);
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//igridmins[2] = max(0, igridmins[2]);
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igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
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igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
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//igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
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// paranoid debugging
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//VectorSet(igridmins, 0, 0, 0);VectorSet(igridmaxs, AREA_GRID, AREA_GRID, AREA_GRID);
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numlist = 0;
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// add entities not linked into areagrid because they are too big or
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// outside the grid bounds
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if (world->areagrid_outside.next)
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{
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grid = &world->areagrid_outside;
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for (l = grid->next;l != grid;l = l->next)
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{
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ent = PRVM_EDICT_NUM(l->entitynumber);
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if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
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{
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ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
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if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
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{
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if (numlist < maxlist)
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list[numlist] = ent;
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numlist++;
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}
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world->areagrid_stats_entitychecks++;
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}
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}
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}
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// add grid linked entities
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for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
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{
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grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
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for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
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{
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if (grid->next)
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{
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for (l = grid->next;l != grid;l = l->next)
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{
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ent = PRVM_EDICT_NUM(l->entitynumber);
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if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
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{
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ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
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if (!ent->priv.server->free && BoxesOverlap(paddedmins, paddedmaxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
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{
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if (numlist < maxlist)
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list[numlist] = ent;
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numlist++;
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}
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//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]);
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}
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world->areagrid_stats_entitychecks++;
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}
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}
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}
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}
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return numlist;
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}
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static void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
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{
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prvm_prog_t *prog = world->prog;
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link_t *grid;
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int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
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if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
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{
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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);
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return;
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}
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igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
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igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
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//igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
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igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
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igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
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//igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
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if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
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{
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// wow, something outside the grid, store it as such
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World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
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return;
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}
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gridnum = 0;
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for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
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{
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grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
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for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
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World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
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}
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}
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/*
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===============
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World_LinkEdict
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===============
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*/
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void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
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{
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prvm_prog_t *prog = world->prog;
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// unlink from old position first
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if (ent->priv.server->areagrid[0].prev)
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World_UnlinkEdict(ent);
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// don't add the world
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if (ent == prog->edicts)
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return;
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// don't add free entities
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if (ent->priv.server->free)
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return;
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VectorCopy(mins, ent->priv.server->areamins);
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VectorCopy(maxs, ent->priv.server->areamaxs);
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World_LinkEdict_AreaGrid(world, ent);
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}
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//============================================================================
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// physics engine support
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//============================================================================
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#ifdef USEODE
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cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
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cvar_t physics_ode_allowconvex = {0, "physics_ode_allowconvex", "0", "allow usage of Convex Hull primitive type on trimeshes that have custom 'collisionconvex' mesh. If disabled, trimesh primitive type are used."};
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cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
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cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep"};
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cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
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cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
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cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
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cvar_t physics_ode_contact_maxpoints = {0, "physics_ode_contact_maxpoints", "16", "maximal number of contact points between 2 objects, higher = stable (and slower), can be up to 32"};
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cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
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cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
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cvar_t physics_ode_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"};
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cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.01", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
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cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.1", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
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cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.05", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
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cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.1", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
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cvar_t physics_ode_world_gravitymod = {0, "physics_ode_world_gravitymod", "1", "multiplies gravity got from sv_gravity, this may be needed to tweak if strong damping is used"};
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cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
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cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "0", "use constant step instead of variable step which tends to increase stability, if set to 1 uses sys_ticrate, instead uses it's own value"};
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cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
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cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
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cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
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cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.6", "body will be disabled if it's linear move below this value"};
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cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "6", "body will be disabled if it's angular move below this value"};
|
|
cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
|
|
cvar_t physics_ode_movelimit = {0, "physics_ode_movelimit", "0.5", "clamp velocity if a single move would exceed this percentage of object thickness, to prevent flying through walls, be aware that behavior depends of step type"};
|
|
cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
|
|
cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"};
|
|
cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
|
|
|
|
cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};
|
|
|
|
// LordHavoc: this large chunk of definitions comes from the ODE library
|
|
// include files.
|
|
|
|
#ifdef LINK_TO_LIBODE
|
|
#include "ode/ode.h"
|
|
#else
|
|
#ifdef WINAPI
|
|
// ODE does not use WINAPI
|
|
#define ODE_API
|
|
#else
|
|
#define ODE_API
|
|
#endif
|
|
|
|
// note: dynamic builds of ODE tend to be double precision, this is not used
|
|
// for static builds
|
|
typedef double dReal;
|
|
|
|
typedef dReal dVector3[4];
|
|
typedef dReal dVector4[4];
|
|
typedef dReal dMatrix3[4*3];
|
|
typedef dReal dMatrix4[4*4];
|
|
typedef dReal dMatrix6[8*6];
|
|
typedef dReal dQuaternion[4];
|
|
|
|
struct dxWorld; /* dynamics world */
|
|
struct dxSpace; /* collision space */
|
|
struct dxBody; /* rigid body (dynamics object) */
|
|
struct dxGeom; /* geometry (collision object) */
|
|
struct dxJoint;
|
|
struct dxJointNode;
|
|
struct dxJointGroup;
|
|
struct dxTriMeshData;
|
|
|
|
#define dInfinity 3.402823466e+38f
|
|
|
|
typedef struct dxWorld *dWorldID;
|
|
typedef struct dxSpace *dSpaceID;
|
|
typedef struct dxBody *dBodyID;
|
|
typedef struct dxGeom *dGeomID;
|
|
typedef struct dxJoint *dJointID;
|
|
typedef struct dxJointGroup *dJointGroupID;
|
|
typedef struct dxTriMeshData *dTriMeshDataID;
|
|
|
|
typedef struct dJointFeedback
|
|
{
|
|
dVector3 f1; /* force applied to body 1 */
|
|
dVector3 t1; /* torque applied to body 1 */
|
|
dVector3 f2; /* force applied to body 2 */
|
|
dVector3 t2; /* torque applied to body 2 */
|
|
}
|
|
dJointFeedback;
|
|
|
|
typedef enum dJointType
|
|
{
|
|
dJointTypeNone = 0,
|
|
dJointTypeBall,
|
|
dJointTypeHinge,
|
|
dJointTypeSlider,
|
|
dJointTypeContact,
|
|
dJointTypeUniversal,
|
|
dJointTypeHinge2,
|
|
dJointTypeFixed,
|
|
dJointTypeNull,
|
|
dJointTypeAMotor,
|
|
dJointTypeLMotor,
|
|
dJointTypePlane2D,
|
|
dJointTypePR,
|
|
dJointTypePU,
|
|
dJointTypePiston
|
|
}
|
|
dJointType;
|
|
|
|
#define D_ALL_PARAM_NAMES(start) \
|
|
/* parameters for limits and motors */ \
|
|
dParamLoStop = start, \
|
|
dParamHiStop, \
|
|
dParamVel, \
|
|
dParamFMax, \
|
|
dParamFudgeFactor, \
|
|
dParamBounce, \
|
|
dParamCFM, \
|
|
dParamStopERP, \
|
|
dParamStopCFM, \
|
|
/* parameters for suspension */ \
|
|
dParamSuspensionERP, \
|
|
dParamSuspensionCFM, \
|
|
dParamERP, \
|
|
|
|
#define D_ALL_PARAM_NAMES_X(start,x) \
|
|
/* parameters for limits and motors */ \
|
|
dParamLoStop ## x = start, \
|
|
dParamHiStop ## x, \
|
|
dParamVel ## x, \
|
|
dParamFMax ## x, \
|
|
dParamFudgeFactor ## x, \
|
|
dParamBounce ## x, \
|
|
dParamCFM ## x, \
|
|
dParamStopERP ## x, \
|
|
dParamStopCFM ## x, \
|
|
/* parameters for suspension */ \
|
|
dParamSuspensionERP ## x, \
|
|
dParamSuspensionCFM ## x, \
|
|
dParamERP ## x,
|
|
|
|
enum {
|
|
D_ALL_PARAM_NAMES(0)
|
|
D_ALL_PARAM_NAMES_X(0x100,2)
|
|
D_ALL_PARAM_NAMES_X(0x200,3)
|
|
|
|
/* add a multiple of this constant to the basic parameter numbers to get
|
|
* the parameters for the second, third etc axes.
|
|
*/
|
|
dParamGroup=0x100
|
|
};
|
|
|
|
typedef struct dMass
|
|
{
|
|
dReal mass;
|
|
dVector3 c;
|
|
dMatrix3 I;
|
|
}
|
|
dMass;
|
|
|
|
enum
|
|
{
|
|
dContactMu2 = 0x001,
|
|
dContactFDir1 = 0x002,
|
|
dContactBounce = 0x004,
|
|
dContactSoftERP = 0x008,
|
|
dContactSoftCFM = 0x010,
|
|
dContactMotion1 = 0x020,
|
|
dContactMotion2 = 0x040,
|
|
dContactMotionN = 0x080,
|
|
dContactSlip1 = 0x100,
|
|
dContactSlip2 = 0x200,
|
|
|
|
dContactApprox0 = 0x0000,
|
|
dContactApprox1_1 = 0x1000,
|
|
dContactApprox1_2 = 0x2000,
|
|
dContactApprox1 = 0x3000
|
|
};
|
|
|
|
typedef struct dSurfaceParameters
|
|
{
|
|
/* must always be defined */
|
|
int mode;
|
|
dReal mu;
|
|
|
|
/* only defined if the corresponding flag is set in mode */
|
|
dReal mu2;
|
|
dReal bounce;
|
|
dReal bounce_vel;
|
|
dReal soft_erp;
|
|
dReal soft_cfm;
|
|
dReal motion1,motion2,motionN;
|
|
dReal slip1,slip2;
|
|
} dSurfaceParameters;
|
|
|
|
typedef struct dContactGeom
|
|
{
|
|
dVector3 pos; ///< contact position
|
|
dVector3 normal; ///< normal vector
|
|
dReal depth; ///< penetration depth
|
|
dGeomID g1,g2; ///< the colliding geoms
|
|
int side1,side2; ///< (to be documented)
|
|
}
|
|
dContactGeom;
|
|
|
|
typedef struct dContact
|
|
{
|
|
dSurfaceParameters surface;
|
|
dContactGeom geom;
|
|
dVector3 fdir1;
|
|
}
|
|
dContact;
|
|
|
|
typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
|
|
|
|
// SAP
|
|
// Order XZY or ZXY usually works best, if your Y is up.
|
|
#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
|
|
#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
|
|
#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
|
|
#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
|
|
#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
|
|
#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
|
|
|
|
const char* (ODE_API *dGetConfiguration)(void);
|
|
int (ODE_API *dCheckConfiguration)( const char* token );
|
|
int (ODE_API *dInitODE)(void);
|
|
//int (ODE_API *dInitODE2)(unsigned int uiInitFlags);
|
|
//int (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
|
|
//void (ODE_API *dCleanupODEAllDataForThread)(void);
|
|
void (ODE_API *dCloseODE)(void);
|
|
|
|
//int (ODE_API *dMassCheck)(const dMass *m);
|
|
//void (ODE_API *dMassSetZero)(dMass *);
|
|
//void (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
|
|
//void (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
|
|
void (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
|
|
//void (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
|
|
void (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
|
|
//void (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
|
|
void (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
|
|
//void (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
|
|
void (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
|
|
//void (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
|
|
//void (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
|
|
//void (ODE_API *dMassAdjust)(dMass *, dReal newmass);
|
|
//void (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
|
|
//void (ODE_API *dMassAdd)(dMass *a, const dMass *b);
|
|
//
|
|
dWorldID (ODE_API *dWorldCreate)(void);
|
|
void (ODE_API *dWorldDestroy)(dWorldID world);
|
|
void (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
|
|
void (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
|
|
//dReal (ODE_API *dWorldGetERP)(dWorldID);
|
|
void (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
|
|
//dReal (ODE_API *dWorldGetCFM)(dWorldID);
|
|
//void (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
|
|
//void (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
|
|
void (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
|
|
void (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
|
|
//int (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
|
|
//void (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
|
|
//dReal (ODE_API *dWorldGetQuickStepW)(dWorldID);
|
|
//void (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
|
|
//dReal (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
|
|
void (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
|
|
//dReal (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
|
|
//void (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
|
|
//void (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
|
|
//int (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
|
|
//dReal (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
|
|
//dReal (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
|
|
//dReal (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
|
|
//void (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
|
|
//dReal (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
|
|
//void (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
|
|
//int (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
|
|
//int (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
|
|
//dReal (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
|
|
//int (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
|
|
void (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
|
|
//dReal (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
|
|
void (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
|
|
//dReal (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
|
|
void (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
|
|
//dReal (ODE_API *dWorldGetLinearDamping)(dWorldID w);
|
|
void (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
|
|
//dReal (ODE_API *dWorldGetAngularDamping)(dWorldID w);
|
|
void (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
|
|
//void (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
|
|
//dReal (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
|
|
//void (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
|
|
//dReal (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
|
|
//dReal (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
|
|
//int (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
|
|
//int (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
|
|
//dReal (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
|
|
//int (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
|
|
//void (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
|
|
//void (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
|
|
//dWorldID (ODE_API *dBodyGetWorld)(dBodyID);
|
|
dBodyID (ODE_API *dBodyCreate)(dWorldID);
|
|
void (ODE_API *dBodyDestroy)(dBodyID);
|
|
void (ODE_API *dBodySetData)(dBodyID, void *data);
|
|
void * (ODE_API *dBodyGetData)(dBodyID);
|
|
void (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
|
|
//void (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
|
|
void (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
|
|
const dReal * (ODE_API *dBodyGetPosition)(dBodyID);
|
|
//void (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
|
|
const dReal * (ODE_API *dBodyGetRotation)(dBodyID);
|
|
//void (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
|
|
//const dReal * (ODE_API *dBodyGetQuaternion)(dBodyID);
|
|
//void (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
|
|
const dReal * (ODE_API *dBodyGetLinearVel)(dBodyID);
|
|
const dReal * (ODE_API *dBodyGetAngularVel)(dBodyID);
|
|
void (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
|
|
//void (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
|
|
void (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
|
|
void (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
|
|
//void (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
|
|
//void (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
|
|
void (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
|
|
//void (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
|
|
//void (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
|
|
//void (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
|
|
//const dReal * (ODE_API *dBodyGetForce)(dBodyID);
|
|
//const dReal * (ODE_API *dBodyGetTorque)(dBodyID);
|
|
//void (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
|
|
//void (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
|
|
//void (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
|
|
//int (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
|
|
//void (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
|
|
int (ODE_API *dBodyGetNumJoints)(dBodyID b);
|
|
dJointID (ODE_API *dBodyGetJoint)(dBodyID, int index);
|
|
//void (ODE_API *dBodySetDynamic)(dBodyID);
|
|
//void (ODE_API *dBodySetKinematic)(dBodyID);
|
|
//int (ODE_API *dBodyIsKinematic)(dBodyID);
|
|
void (ODE_API *dBodyEnable)(dBodyID);
|
|
void (ODE_API *dBodyDisable)(dBodyID);
|
|
int (ODE_API *dBodyIsEnabled)(dBodyID);
|
|
void (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
|
|
int (ODE_API *dBodyGetGravityMode)(dBodyID b);
|
|
//void (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
|
|
//dGeomID (ODE_API *dBodyGetFirstGeom)(dBodyID b);
|
|
//dGeomID (ODE_API *dBodyGetNextGeom)(dGeomID g);
|
|
//void (ODE_API *dBodySetDampingDefaults)(dBodyID b);
|
|
//dReal (ODE_API *dBodyGetLinearDamping)(dBodyID b);
|
|
//void (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
|
|
//dReal (ODE_API *dBodyGetAngularDamping)(dBodyID b);
|
|
//void (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
|
|
//void (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
|
|
//dReal (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
|
|
//void (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
|
|
//dReal (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
|
|
//void (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
|
|
//dReal (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
|
|
//void (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
|
|
//int (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
|
|
//void (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
|
|
dJointID (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
|
|
dJointID (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
|
|
dJointID (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
|
|
dJointID (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
|
|
dJointID (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
|
|
dJointID (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
|
|
dJointID (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
|
|
//dJointID (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
|
|
void (ODE_API *dJointDestroy)(dJointID);
|
|
dJointGroupID (ODE_API *dJointGroupCreate)(int max_size);
|
|
void (ODE_API *dJointGroupDestroy)(dJointGroupID);
|
|
void (ODE_API *dJointGroupEmpty)(dJointGroupID);
|
|
//int (ODE_API *dJointGetNumBodies)(dJointID);
|
|
void (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
|
|
//void (ODE_API *dJointEnable)(dJointID);
|
|
//void (ODE_API *dJointDisable)(dJointID);
|
|
//int (ODE_API *dJointIsEnabled)(dJointID);
|
|
void (ODE_API *dJointSetData)(dJointID, void *data);
|
|
void * (ODE_API *dJointGetData)(dJointID);
|
|
//dJointType (ODE_API *dJointGetType)(dJointID);
|
|
dBodyID (ODE_API *dJointGetBody)(dJointID, int index);
|
|
//void (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
|
|
//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
|
|
void (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
|
|
void (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
|
|
void (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
|
|
void (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
|
|
void (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
|
|
void (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
|
|
void (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
|
|
void (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
|
|
void (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
|
|
void (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
|
|
//void (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
|
|
//void (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
|
|
//void (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
|
|
//void (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
|
|
//void (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
|
|
//void (ODE_API *dJointSetFixed)(dJointID);
|
|
//void (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
|
|
//void (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
|
|
//void (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
|
|
//void (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
|
|
//void (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
|
|
//void (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
|
|
//void (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetBallParam)(dJointID, int parameter);
|
|
//void (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
|
|
//dReal (ODE_API *dJointGetHingeAngle)(dJointID);
|
|
//dReal (ODE_API *dJointGetHingeAngleRate)(dJointID);
|
|
//dReal (ODE_API *dJointGetSliderPosition)(dJointID);
|
|
//dReal (ODE_API *dJointGetSliderPositionRate)(dJointID);
|
|
//void (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
|
|
//void (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
|
|
//dReal (ODE_API *dJointGetHinge2Angle1)(dJointID);
|
|
//dReal (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
|
|
//dReal (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
|
|
//void (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
|
|
//void (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
|
|
//dReal (ODE_API *dJointGetUniversalAngle1)(dJointID);
|
|
//dReal (ODE_API *dJointGetUniversalAngle2)(dJointID);
|
|
//dReal (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
|
|
//dReal (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
|
|
//void (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetPRPosition)(dJointID);
|
|
//dReal (ODE_API *dJointGetPRPositionRate)(dJointID);
|
|
//dReal (ODE_API *dJointGetPRAngle)(dJointID);
|
|
//dReal (ODE_API *dJointGetPRAngleRate)(dJointID);
|
|
//void (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetPRParam)(dJointID, int parameter);
|
|
//void (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetPUPosition)(dJointID);
|
|
//dReal (ODE_API *dJointGetPUPositionRate)(dJointID);
|
|
//void (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
|
|
//void (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
|
|
//dReal (ODE_API *dJointGetPUAngle1)(dJointID);
|
|
//dReal (ODE_API *dJointGetPUAngle1Rate)(dJointID);
|
|
//dReal (ODE_API *dJointGetPUAngle2)(dJointID);
|
|
//dReal (ODE_API *dJointGetPUAngle2Rate)(dJointID);
|
|
//dReal (ODE_API *dJointGetPUParam)(dJointID, int parameter);
|
|
//dReal (ODE_API *dJointGetPistonPosition)(dJointID);
|
|
//dReal (ODE_API *dJointGetPistonPositionRate)(dJointID);
|
|
//dReal (ODE_API *dJointGetPistonAngle)(dJointID);
|
|
//dReal (ODE_API *dJointGetPistonAngleRate)(dJointID);
|
|
//void (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
|
|
//void (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
|
|
//dReal (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
|
|
//int (ODE_API *dJointGetAMotorNumAxes)(dJointID);
|
|
//void (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
|
|
//int (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
|
|
//dReal (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
|
|
//dReal (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
|
|
//dReal (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
|
|
//int (ODE_API *dJointGetAMotorMode)(dJointID);
|
|
//int (ODE_API *dJointGetLMotorNumAxes)(dJointID);
|
|
//void (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
|
|
//dReal (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
|
|
//dReal (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
|
|
//dJointID (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
|
|
//int (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
|
|
int (ODE_API *dAreConnected)(dBodyID, dBodyID);
|
|
int (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
|
|
//
|
|
dSpaceID (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
|
|
dSpaceID (ODE_API *dHashSpaceCreate)(dSpaceID space);
|
|
dSpaceID (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
|
|
//dSpaceID (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
|
|
void (ODE_API *dSpaceDestroy)(dSpaceID);
|
|
//void (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
|
|
//void (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
|
|
//void (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
|
|
//int (ODE_API *dSpaceGetCleanup)(dSpaceID space);
|
|
//void (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
|
|
//int (ODE_API *dSpaceGetSublevel)(dSpaceID space);
|
|
//void (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
|
|
//int (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
|
|
//void (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
|
|
//void (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
|
|
//int (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
|
|
//void (ODE_API *dSpaceClean)(dSpaceID);
|
|
//int (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
|
|
//dGeomID (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
|
|
//int (ODE_API *dSpaceGetClass)(dSpaceID space);
|
|
//
|
|
void (ODE_API *dGeomDestroy)(dGeomID geom);
|
|
void (ODE_API *dGeomSetData)(dGeomID geom, void* data);
|
|
void * (ODE_API *dGeomGetData)(dGeomID geom);
|
|
void (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
|
|
dBodyID (ODE_API *dGeomGetBody)(dGeomID geom);
|
|
void (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
|
|
void (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
|
|
//void (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
|
|
//const dReal * (ODE_API *dGeomGetPosition)(dGeomID geom);
|
|
//void (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
|
|
//const dReal * (ODE_API *dGeomGetRotation)(dGeomID geom);
|
|
//void (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
|
|
//void (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
|
|
//void (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
|
|
int (ODE_API *dGeomIsSpace)(dGeomID geom);
|
|
//dSpaceID (ODE_API *dGeomGetSpace)(dGeomID);
|
|
//int (ODE_API *dGeomGetClass)(dGeomID geom);
|
|
//void (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
|
|
//void (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
|
|
//unsigned long (ODE_API *dGeomGetCategoryBits)(dGeomID);
|
|
//unsigned long (ODE_API *dGeomGetCollideBits)(dGeomID);
|
|
//void (ODE_API *dGeomEnable)(dGeomID geom);
|
|
//void (ODE_API *dGeomDisable)(dGeomID geom);
|
|
//int (ODE_API *dGeomIsEnabled)(dGeomID geom);
|
|
//void (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
|
|
//void (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
|
|
//void (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
|
|
//void (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
|
|
//void (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
|
|
//void (ODE_API *dGeomClearOffset)(dGeomID geom);
|
|
//int (ODE_API *dGeomIsOffset)(dGeomID geom);
|
|
//const dReal * (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
|
|
//void (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
|
|
//const dReal * (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
|
|
//void (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
|
|
//void (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
|
|
int (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
|
|
//
|
|
void (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
|
|
void (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
|
|
//
|
|
dGeomID (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
|
|
//void (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
|
|
//dReal (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
|
|
//dReal (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
|
|
//
|
|
dGeomID (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
|
|
//void (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
|
|
//
|
|
dGeomID (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
|
|
//void (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
|
|
//void (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
|
|
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
|
|
//dReal (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
|
|
//
|
|
//dGeomID (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
|
|
//void (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
|
|
//void (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
|
|
//dReal (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
|
|
//
|
|
dGeomID (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
|
|
//void (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
|
|
//void (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
|
|
//dReal (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
|
|
//
|
|
dGeomID (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
|
|
//void (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
|
|
//void (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
|
|
//
|
|
//dGeomID (ODE_API *dCreateRay)(dSpaceID space, dReal length);
|
|
//void (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
|
|
//dReal (ODE_API *dGeomRayGetLength)(dGeomID ray);
|
|
//void (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
|
|
//void (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
|
|
//
|
|
dGeomID (ODE_API *dCreateGeomTransform)(dSpaceID space);
|
|
void (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
|
|
//dGeomID (ODE_API *dGeomTransformGetGeom)(dGeomID g);
|
|
void (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
|
|
//int (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
|
|
//void (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
|
|
//int (ODE_API *dGeomTransformGetInfo)(dGeomID g);
|
|
|
|
enum { TRIMESH_FACE_NORMALS };
|
|
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
|
|
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
|
|
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
|
|
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
|
|
|
|
dTriMeshDataID (ODE_API *dGeomTriMeshDataCreate)(void);
|
|
void (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
|
|
//void (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
|
|
//void* (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
|
|
//void (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
|
|
//dReal* (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
|
|
void (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
|
|
//void (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
|
|
//void (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
|
|
//void (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
|
|
//void (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
|
|
//void (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
|
|
//void (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
|
|
//void (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
|
|
//void (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
|
|
//void (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
|
|
//dTriCallback* (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
|
|
//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
|
|
//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
|
|
//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
|
|
dGeomID (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
|
|
//void (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
|
|
//dTriMeshDataID (ODE_API *dGeomTriMeshGetData)(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
|
|
//int (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
|
|
//void (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
|
|
//dTriMeshDataID (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
|
|
//void (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
|
|
//int (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
|
|
//void (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
|
|
|
|
static dllfunction_t odefuncs[] =
|
|
{
|
|
{"dGetConfiguration", (void **) &dGetConfiguration},
|
|
{"dCheckConfiguration", (void **) &dCheckConfiguration},
|
|
{"dInitODE", (void **) &dInitODE},
|
|
// {"dInitODE2", (void **) &dInitODE2},
|
|
// {"dAllocateODEDataForThread", (void **) &dAllocateODEDataForThread},
|
|
// {"dCleanupODEAllDataForThread", (void **) &dCleanupODEAllDataForThread},
|
|
{"dCloseODE", (void **) &dCloseODE},
|
|
// {"dMassCheck", (void **) &dMassCheck},
|
|
// {"dMassSetZero", (void **) &dMassSetZero},
|
|
// {"dMassSetParameters", (void **) &dMassSetParameters},
|
|
// {"dMassSetSphere", (void **) &dMassSetSphere},
|
|
{"dMassSetSphereTotal", (void **) &dMassSetSphereTotal},
|
|
// {"dMassSetCapsule", (void **) &dMassSetCapsule},
|
|
{"dMassSetCapsuleTotal", (void **) &dMassSetCapsuleTotal},
|
|
// {"dMassSetCylinder", (void **) &dMassSetCylinder},
|
|
{"dMassSetCylinderTotal", (void **) &dMassSetCylinderTotal},
|
|
// {"dMassSetBox", (void **) &dMassSetBox},
|
|
{"dMassSetBoxTotal", (void **) &dMassSetBoxTotal},
|
|
// {"dMassSetTrimesh", (void **) &dMassSetTrimesh},
|
|
// {"dMassSetTrimeshTotal", (void **) &dMassSetTrimeshTotal},
|
|
// {"dMassAdjust", (void **) &dMassAdjust},
|
|
// {"dMassTranslate", (void **) &dMassTranslate},
|
|
// {"dMassRotate", (void **) &dMassRotate},
|
|
// {"dMassAdd", (void **) &dMassAdd},
|
|
|
|
{"dWorldCreate", (void **) &dWorldCreate},
|
|
{"dWorldDestroy", (void **) &dWorldDestroy},
|
|
{"dWorldSetGravity", (void **) &dWorldSetGravity},
|
|
{"dWorldGetGravity", (void **) &dWorldGetGravity},
|
|
{"dWorldSetERP", (void **) &dWorldSetERP},
|
|
// {"dWorldGetERP", (void **) &dWorldGetERP},
|
|
{"dWorldSetCFM", (void **) &dWorldSetCFM},
|
|
// {"dWorldGetCFM", (void **) &dWorldGetCFM},
|
|
// {"dWorldStep", (void **) &dWorldStep},
|
|
// {"dWorldImpulseToForce", (void **) &dWorldImpulseToForce},
|
|
{"dWorldQuickStep", (void **) &dWorldQuickStep},
|
|
{"dWorldSetQuickStepNumIterations", (void **) &dWorldSetQuickStepNumIterations},
|
|
// {"dWorldGetQuickStepNumIterations", (void **) &dWorldGetQuickStepNumIterations},
|
|
// {"dWorldSetQuickStepW", (void **) &dWorldSetQuickStepW},
|
|
// {"dWorldGetQuickStepW", (void **) &dWorldGetQuickStepW},
|
|
// {"dWorldSetContactMaxCorrectingVel", (void **) &dWorldSetContactMaxCorrectingVel},
|
|
// {"dWorldGetContactMaxCorrectingVel", (void **) &dWorldGetContactMaxCorrectingVel},
|
|
{"dWorldSetContactSurfaceLayer", (void **) &dWorldSetContactSurfaceLayer},
|
|
// {"dWorldGetContactSurfaceLayer", (void **) &dWorldGetContactSurfaceLayer},
|
|
// {"dWorldStepFast1", (void **) &dWorldStepFast1},
|
|
// {"dWorldSetAutoEnableDepthSF1", (void **) &dWorldSetAutoEnableDepthSF1},
|
|
// {"dWorldGetAutoEnableDepthSF1", (void **) &dWorldGetAutoEnableDepthSF1},
|
|
// {"dWorldGetAutoDisableLinearThreshold", (void **) &dWorldGetAutoDisableLinearThreshold},
|
|
{"dWorldSetAutoDisableLinearThreshold", (void **) &dWorldSetAutoDisableLinearThreshold},
|
|
// {"dWorldGetAutoDisableAngularThreshold", (void **) &dWorldGetAutoDisableAngularThreshold},
|
|
{"dWorldSetAutoDisableAngularThreshold", (void **) &dWorldSetAutoDisableAngularThreshold},
|
|
// {"dWorldGetAutoDisableLinearAverageThreshold", (void **) &dWorldGetAutoDisableLinearAverageThreshold},
|
|
// {"dWorldSetAutoDisableLinearAverageThreshold", (void **) &dWorldSetAutoDisableLinearAverageThreshold},
|
|
// {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
|
|
// {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
|
|
// {"dWorldGetAutoDisableAverageSamplesCount", (void **) &dWorldGetAutoDisableAverageSamplesCount},
|
|
{"dWorldSetAutoDisableAverageSamplesCount", (void **) &dWorldSetAutoDisableAverageSamplesCount},
|
|
// {"dWorldGetAutoDisableSteps", (void **) &dWorldGetAutoDisableSteps},
|
|
{"dWorldSetAutoDisableSteps", (void **) &dWorldSetAutoDisableSteps},
|
|
// {"dWorldGetAutoDisableTime", (void **) &dWorldGetAutoDisableTime},
|
|
{"dWorldSetAutoDisableTime", (void **) &dWorldSetAutoDisableTime},
|
|
// {"dWorldGetAutoDisableFlag", (void **) &dWorldGetAutoDisableFlag},
|
|
{"dWorldSetAutoDisableFlag", (void **) &dWorldSetAutoDisableFlag},
|
|
// {"dWorldGetLinearDampingThreshold", (void **) &dWorldGetLinearDampingThreshold},
|
|
{"dWorldSetLinearDampingThreshold", (void **) &dWorldSetLinearDampingThreshold},
|
|
// {"dWorldGetAngularDampingThreshold", (void **) &dWorldGetAngularDampingThreshold},
|
|
{"dWorldSetAngularDampingThreshold", (void **) &dWorldSetAngularDampingThreshold},
|
|
// {"dWorldGetLinearDamping", (void **) &dWorldGetLinearDamping},
|
|
{"dWorldSetLinearDamping", (void **) &dWorldSetLinearDamping},
|
|
// {"dWorldGetAngularDamping", (void **) &dWorldGetAngularDamping},
|
|
{"dWorldSetAngularDamping", (void **) &dWorldSetAngularDamping},
|
|
// {"dWorldSetDamping", (void **) &dWorldSetDamping},
|
|
// {"dWorldGetMaxAngularSpeed", (void **) &dWorldGetMaxAngularSpeed},
|
|
// {"dWorldSetMaxAngularSpeed", (void **) &dWorldSetMaxAngularSpeed},
|
|
// {"dBodyGetAutoDisableLinearThreshold", (void **) &dBodyGetAutoDisableLinearThreshold},
|
|
// {"dBodySetAutoDisableLinearThreshold", (void **) &dBodySetAutoDisableLinearThreshold},
|
|
// {"dBodyGetAutoDisableAngularThreshold", (void **) &dBodyGetAutoDisableAngularThreshold},
|
|
// {"dBodySetAutoDisableAngularThreshold", (void **) &dBodySetAutoDisableAngularThreshold},
|
|
// {"dBodyGetAutoDisableAverageSamplesCount", (void **) &dBodyGetAutoDisableAverageSamplesCount},
|
|
// {"dBodySetAutoDisableAverageSamplesCount", (void **) &dBodySetAutoDisableAverageSamplesCount},
|
|
// {"dBodyGetAutoDisableSteps", (void **) &dBodyGetAutoDisableSteps},
|
|
// {"dBodySetAutoDisableSteps", (void **) &dBodySetAutoDisableSteps},
|
|
// {"dBodyGetAutoDisableTime", (void **) &dBodyGetAutoDisableTime},
|
|
// {"dBodySetAutoDisableTime", (void **) &dBodySetAutoDisableTime},
|
|
// {"dBodyGetAutoDisableFlag", (void **) &dBodyGetAutoDisableFlag},
|
|
// {"dBodySetAutoDisableFlag", (void **) &dBodySetAutoDisableFlag},
|
|
// {"dBodySetAutoDisableDefaults", (void **) &dBodySetAutoDisableDefaults},
|
|
// {"dBodyGetWorld", (void **) &dBodyGetWorld},
|
|
{"dBodyCreate", (void **) &dBodyCreate},
|
|
{"dBodyDestroy", (void **) &dBodyDestroy},
|
|
{"dBodySetData", (void **) &dBodySetData},
|
|
{"dBodyGetData", (void **) &dBodyGetData},
|
|
{"dBodySetPosition", (void **) &dBodySetPosition},
|
|
{"dBodySetRotation", (void **) &dBodySetRotation},
|
|
// {"dBodySetQuaternion", (void **) &dBodySetQuaternion},
|
|
{"dBodySetLinearVel", (void **) &dBodySetLinearVel},
|
|
{"dBodySetAngularVel", (void **) &dBodySetAngularVel},
|
|
{"dBodyGetPosition", (void **) &dBodyGetPosition},
|
|
// {"dBodyCopyPosition", (void **) &dBodyCopyPosition},
|
|
{"dBodyGetRotation", (void **) &dBodyGetRotation},
|
|
// {"dBodyCopyRotation", (void **) &dBodyCopyRotation},
|
|
// {"dBodyGetQuaternion", (void **) &dBodyGetQuaternion},
|
|
// {"dBodyCopyQuaternion", (void **) &dBodyCopyQuaternion},
|
|
{"dBodyGetLinearVel", (void **) &dBodyGetLinearVel},
|
|
{"dBodyGetAngularVel", (void **) &dBodyGetAngularVel},
|
|
{"dBodySetMass", (void **) &dBodySetMass},
|
|
// {"dBodyGetMass", (void **) &dBodyGetMass},
|
|
{"dBodyAddForce", (void **) &dBodyAddForce},
|
|
{"dBodyAddTorque", (void **) &dBodyAddTorque},
|
|
// {"dBodyAddRelForce", (void **) &dBodyAddRelForce},
|
|
// {"dBodyAddRelTorque", (void **) &dBodyAddRelTorque},
|
|
{"dBodyAddForceAtPos", (void **) &dBodyAddForceAtPos},
|
|
// {"dBodyAddForceAtRelPos", (void **) &dBodyAddForceAtRelPos},
|
|
// {"dBodyAddRelForceAtPos", (void **) &dBodyAddRelForceAtPos},
|
|
// {"dBodyAddRelForceAtRelPos", (void **) &dBodyAddRelForceAtRelPos},
|
|
// {"dBodyGetForce", (void **) &dBodyGetForce},
|
|
// {"dBodyGetTorque", (void **) &dBodyGetTorque},
|
|
// {"dBodySetForce", (void **) &dBodySetForce},
|
|
// {"dBodySetTorque", (void **) &dBodySetTorque},
|
|
// {"dBodyGetRelPointPos", (void **) &dBodyGetRelPointPos},
|
|
// {"dBodyGetRelPointVel", (void **) &dBodyGetRelPointVel},
|
|
// {"dBodyGetPointVel", (void **) &dBodyGetPointVel},
|
|
// {"dBodyGetPosRelPoint", (void **) &dBodyGetPosRelPoint},
|
|
// {"dBodyVectorToWorld", (void **) &dBodyVectorToWorld},
|
|
// {"dBodyVectorFromWorld", (void **) &dBodyVectorFromWorld},
|
|
// {"dBodySetFiniteRotationMode", (void **) &dBodySetFiniteRotationMode},
|
|
// {"dBodySetFiniteRotationAxis", (void **) &dBodySetFiniteRotationAxis},
|
|
// {"dBodyGetFiniteRotationMode", (void **) &dBodyGetFiniteRotationMode},
|
|
// {"dBodyGetFiniteRotationAxis", (void **) &dBodyGetFiniteRotationAxis},
|
|
{"dBodyGetNumJoints", (void **) &dBodyGetNumJoints},
|
|
{"dBodyGetJoint", (void **) &dBodyGetJoint},
|
|
// {"dBodySetDynamic", (void **) &dBodySetDynamic},
|
|
// {"dBodySetKinematic", (void **) &dBodySetKinematic},
|
|
// {"dBodyIsKinematic", (void **) &dBodyIsKinematic},
|
|
{"dBodyEnable", (void **) &dBodyEnable},
|
|
{"dBodyDisable", (void **) &dBodyDisable},
|
|
{"dBodyIsEnabled", (void **) &dBodyIsEnabled},
|
|
{"dBodySetGravityMode", (void **) &dBodySetGravityMode},
|
|
{"dBodyGetGravityMode", (void **) &dBodyGetGravityMode},
|
|
// {"dBodySetMovedCallback", (void **) &dBodySetMovedCallback},
|
|
// {"dBodyGetFirstGeom", (void **) &dBodyGetFirstGeom},
|
|
// {"dBodyGetNextGeom", (void **) &dBodyGetNextGeom},
|
|
// {"dBodySetDampingDefaults", (void **) &dBodySetDampingDefaults},
|
|
// {"dBodyGetLinearDamping", (void **) &dBodyGetLinearDamping},
|
|
// {"dBodySetLinearDamping", (void **) &dBodySetLinearDamping},
|
|
// {"dBodyGetAngularDamping", (void **) &dBodyGetAngularDamping},
|
|
// {"dBodySetAngularDamping", (void **) &dBodySetAngularDamping},
|
|
// {"dBodySetDamping", (void **) &dBodySetDamping},
|
|
// {"dBodyGetLinearDampingThreshold", (void **) &dBodyGetLinearDampingThreshold},
|
|
// {"dBodySetLinearDampingThreshold", (void **) &dBodySetLinearDampingThreshold},
|
|
// {"dBodyGetAngularDampingThreshold", (void **) &dBodyGetAngularDampingThreshold},
|
|
// {"dBodySetAngularDampingThreshold", (void **) &dBodySetAngularDampingThreshold},
|
|
// {"dBodyGetMaxAngularSpeed", (void **) &dBodyGetMaxAngularSpeed},
|
|
// {"dBodySetMaxAngularSpeed", (void **) &dBodySetMaxAngularSpeed},
|
|
// {"dBodyGetGyroscopicMode", (void **) &dBodyGetGyroscopicMode},
|
|
// {"dBodySetGyroscopicMode", (void **) &dBodySetGyroscopicMode},
|
|
{"dJointCreateBall", (void **) &dJointCreateBall},
|
|
{"dJointCreateHinge", (void **) &dJointCreateHinge},
|
|
{"dJointCreateSlider", (void **) &dJointCreateSlider},
|
|
{"dJointCreateContact", (void **) &dJointCreateContact},
|
|
{"dJointCreateHinge2", (void **) &dJointCreateHinge2},
|
|
{"dJointCreateUniversal", (void **) &dJointCreateUniversal},
|
|
// {"dJointCreatePR", (void **) &dJointCreatePR},
|
|
// {"dJointCreatePU", (void **) &dJointCreatePU},
|
|
// {"dJointCreatePiston", (void **) &dJointCreatePiston},
|
|
{"dJointCreateFixed", (void **) &dJointCreateFixed},
|
|
// {"dJointCreateNull", (void **) &dJointCreateNull},
|
|
// {"dJointCreateAMotor", (void **) &dJointCreateAMotor},
|
|
// {"dJointCreateLMotor", (void **) &dJointCreateLMotor},
|
|
// {"dJointCreatePlane2D", (void **) &dJointCreatePlane2D},
|
|
{"dJointDestroy", (void **) &dJointDestroy},
|
|
{"dJointGroupCreate", (void **) &dJointGroupCreate},
|
|
{"dJointGroupDestroy", (void **) &dJointGroupDestroy},
|
|
{"dJointGroupEmpty", (void **) &dJointGroupEmpty},
|
|
// {"dJointGetNumBodies", (void **) &dJointGetNumBodies},
|
|
{"dJointAttach", (void **) &dJointAttach},
|
|
// {"dJointEnable", (void **) &dJointEnable},
|
|
// {"dJointDisable", (void **) &dJointDisable},
|
|
// {"dJointIsEnabled", (void **) &dJointIsEnabled},
|
|
{"dJointSetData", (void **) &dJointSetData},
|
|
{"dJointGetData", (void **) &dJointGetData},
|
|
// {"dJointGetType", (void **) &dJointGetType},
|
|
{"dJointGetBody", (void **) &dJointGetBody},
|
|
// {"dJointSetFeedback", (void **) &dJointSetFeedback},
|
|
// {"dJointGetFeedback", (void **) &dJointGetFeedback},
|
|
{"dJointSetBallAnchor", (void **) &dJointSetBallAnchor},
|
|
// {"dJointSetBallAnchor2", (void **) &dJointSetBallAnchor2},
|
|
{"dJointSetBallParam", (void **) &dJointSetBallParam},
|
|
{"dJointSetHingeAnchor", (void **) &dJointSetHingeAnchor},
|
|
// {"dJointSetHingeAnchorDelta", (void **) &dJointSetHingeAnchorDelta},
|
|
{"dJointSetHingeAxis", (void **) &dJointSetHingeAxis},
|
|
// {"dJointSetHingeAxisOffset", (void **) &dJointSetHingeAxisOffset},
|
|
{"dJointSetHingeParam", (void **) &dJointSetHingeParam},
|
|
// {"dJointAddHingeTorque", (void **) &dJointAddHingeTorque},
|
|
{"dJointSetSliderAxis", (void **) &dJointSetSliderAxis},
|
|
// {"dJointSetSliderAxisDelta", (void **) &dJointSetSliderAxisDelta},
|
|
{"dJointSetSliderParam", (void **) &dJointSetSliderParam},
|
|
// {"dJointAddSliderForce", (void **) &dJointAddSliderForce},
|
|
{"dJointSetHinge2Anchor", (void **) &dJointSetHinge2Anchor},
|
|
{"dJointSetHinge2Axis1", (void **) &dJointSetHinge2Axis1},
|
|
{"dJointSetHinge2Axis2", (void **) &dJointSetHinge2Axis2},
|
|
{"dJointSetHinge2Param", (void **) &dJointSetHinge2Param},
|
|
// {"dJointAddHinge2Torques", (void **) &dJointAddHinge2Torques},
|
|
{"dJointSetUniversalAnchor", (void **) &dJointSetUniversalAnchor},
|
|
{"dJointSetUniversalAxis1", (void **) &dJointSetUniversalAxis1},
|
|
// {"dJointSetUniversalAxis1Offset", (void **) &dJointSetUniversalAxis1Offset},
|
|
{"dJointSetUniversalAxis2", (void **) &dJointSetUniversalAxis2},
|
|
// {"dJointSetUniversalAxis2Offset", (void **) &dJointSetUniversalAxis2Offset},
|
|
{"dJointSetUniversalParam", (void **) &dJointSetUniversalParam},
|
|
// {"dJointAddUniversalTorques", (void **) &dJointAddUniversalTorques},
|
|
// {"dJointSetPRAnchor", (void **) &dJointSetPRAnchor},
|
|
// {"dJointSetPRAxis1", (void **) &dJointSetPRAxis1},
|
|
// {"dJointSetPRAxis2", (void **) &dJointSetPRAxis2},
|
|
// {"dJointSetPRParam", (void **) &dJointSetPRParam},
|
|
// {"dJointAddPRTorque", (void **) &dJointAddPRTorque},
|
|
// {"dJointSetPUAnchor", (void **) &dJointSetPUAnchor},
|
|
// {"dJointSetPUAnchorOffset", (void **) &dJointSetPUAnchorOffset},
|
|
// {"dJointSetPUAxis1", (void **) &dJointSetPUAxis1},
|
|
// {"dJointSetPUAxis2", (void **) &dJointSetPUAxis2},
|
|
// {"dJointSetPUAxis3", (void **) &dJointSetPUAxis3},
|
|
// {"dJointSetPUAxisP", (void **) &dJointSetPUAxisP},
|
|
// {"dJointSetPUParam", (void **) &dJointSetPUParam},
|
|
// {"dJointAddPUTorque", (void **) &dJointAddPUTorque},
|
|
// {"dJointSetPistonAnchor", (void **) &dJointSetPistonAnchor},
|
|
// {"dJointSetPistonAnchorOffset", (void **) &dJointSetPistonAnchorOffset},
|
|
// {"dJointSetPistonParam", (void **) &dJointSetPistonParam},
|
|
// {"dJointAddPistonForce", (void **) &dJointAddPistonForce},
|
|
// {"dJointSetFixed", (void **) &dJointSetFixed},
|
|
// {"dJointSetFixedParam", (void **) &dJointSetFixedParam},
|
|
// {"dJointSetAMotorNumAxes", (void **) &dJointSetAMotorNumAxes},
|
|
// {"dJointSetAMotorAxis", (void **) &dJointSetAMotorAxis},
|
|
// {"dJointSetAMotorAngle", (void **) &dJointSetAMotorAngle},
|
|
// {"dJointSetAMotorParam", (void **) &dJointSetAMotorParam},
|
|
// {"dJointSetAMotorMode", (void **) &dJointSetAMotorMode},
|
|
// {"dJointAddAMotorTorques", (void **) &dJointAddAMotorTorques},
|
|
// {"dJointSetLMotorNumAxes", (void **) &dJointSetLMotorNumAxes},
|
|
// {"dJointSetLMotorAxis", (void **) &dJointSetLMotorAxis},
|
|
// {"dJointSetLMotorParam", (void **) &dJointSetLMotorParam},
|
|
// {"dJointSetPlane2DXParam", (void **) &dJointSetPlane2DXParam},
|
|
// {"dJointSetPlane2DYParam", (void **) &dJointSetPlane2DYParam},
|
|
// {"dJointSetPlane2DAngleParam", (void **) &dJointSetPlane2DAngleParam},
|
|
// {"dJointGetBallAnchor", (void **) &dJointGetBallAnchor},
|
|
// {"dJointGetBallAnchor2", (void **) &dJointGetBallAnchor2},
|
|
// {"dJointGetBallParam", (void **) &dJointGetBallParam},
|
|
// {"dJointGetHingeAnchor", (void **) &dJointGetHingeAnchor},
|
|
// {"dJointGetHingeAnchor2", (void **) &dJointGetHingeAnchor2},
|
|
// {"dJointGetHingeAxis", (void **) &dJointGetHingeAxis},
|
|
// {"dJointGetHingeParam", (void **) &dJointGetHingeParam},
|
|
// {"dJointGetHingeAngle", (void **) &dJointGetHingeAngle},
|
|
// {"dJointGetHingeAngleRate", (void **) &dJointGetHingeAngleRate},
|
|
// {"dJointGetSliderPosition", (void **) &dJointGetSliderPosition},
|
|
// {"dJointGetSliderPositionRate", (void **) &dJointGetSliderPositionRate},
|
|
// {"dJointGetSliderAxis", (void **) &dJointGetSliderAxis},
|
|
// {"dJointGetSliderParam", (void **) &dJointGetSliderParam},
|
|
// {"dJointGetHinge2Anchor", (void **) &dJointGetHinge2Anchor},
|
|
// {"dJointGetHinge2Anchor2", (void **) &dJointGetHinge2Anchor2},
|
|
// {"dJointGetHinge2Axis1", (void **) &dJointGetHinge2Axis1},
|
|
// {"dJointGetHinge2Axis2", (void **) &dJointGetHinge2Axis2},
|
|
// {"dJointGetHinge2Param", (void **) &dJointGetHinge2Param},
|
|
// {"dJointGetHinge2Angle1", (void **) &dJointGetHinge2Angle1},
|
|
// {"dJointGetHinge2Angle1Rate", (void **) &dJointGetHinge2Angle1Rate},
|
|
// {"dJointGetHinge2Angle2Rate", (void **) &dJointGetHinge2Angle2Rate},
|
|
// {"dJointGetUniversalAnchor", (void **) &dJointGetUniversalAnchor},
|
|
// {"dJointGetUniversalAnchor2", (void **) &dJointGetUniversalAnchor2},
|
|
// {"dJointGetUniversalAxis1", (void **) &dJointGetUniversalAxis1},
|
|
// {"dJointGetUniversalAxis2", (void **) &dJointGetUniversalAxis2},
|
|
// {"dJointGetUniversalParam", (void **) &dJointGetUniversalParam},
|
|
// {"dJointGetUniversalAngles", (void **) &dJointGetUniversalAngles},
|
|
// {"dJointGetUniversalAngle1", (void **) &dJointGetUniversalAngle1},
|
|
// {"dJointGetUniversalAngle2", (void **) &dJointGetUniversalAngle2},
|
|
// {"dJointGetUniversalAngle1Rate", (void **) &dJointGetUniversalAngle1Rate},
|
|
// {"dJointGetUniversalAngle2Rate", (void **) &dJointGetUniversalAngle2Rate},
|
|
// {"dJointGetPRAnchor", (void **) &dJointGetPRAnchor},
|
|
// {"dJointGetPRPosition", (void **) &dJointGetPRPosition},
|
|
// {"dJointGetPRPositionRate", (void **) &dJointGetPRPositionRate},
|
|
// {"dJointGetPRAngle", (void **) &dJointGetPRAngle},
|
|
// {"dJointGetPRAngleRate", (void **) &dJointGetPRAngleRate},
|
|
// {"dJointGetPRAxis1", (void **) &dJointGetPRAxis1},
|
|
// {"dJointGetPRAxis2", (void **) &dJointGetPRAxis2},
|
|
// {"dJointGetPRParam", (void **) &dJointGetPRParam},
|
|
// {"dJointGetPUAnchor", (void **) &dJointGetPUAnchor},
|
|
// {"dJointGetPUPosition", (void **) &dJointGetPUPosition},
|
|
// {"dJointGetPUPositionRate", (void **) &dJointGetPUPositionRate},
|
|
// {"dJointGetPUAxis1", (void **) &dJointGetPUAxis1},
|
|
// {"dJointGetPUAxis2", (void **) &dJointGetPUAxis2},
|
|
// {"dJointGetPUAxis3", (void **) &dJointGetPUAxis3},
|
|
// {"dJointGetPUAxisP", (void **) &dJointGetPUAxisP},
|
|
// {"dJointGetPUAngles", (void **) &dJointGetPUAngles},
|
|
// {"dJointGetPUAngle1", (void **) &dJointGetPUAngle1},
|
|
// {"dJointGetPUAngle1Rate", (void **) &dJointGetPUAngle1Rate},
|
|
// {"dJointGetPUAngle2", (void **) &dJointGetPUAngle2},
|
|
// {"dJointGetPUAngle2Rate", (void **) &dJointGetPUAngle2Rate},
|
|
// {"dJointGetPUParam", (void **) &dJointGetPUParam},
|
|
// {"dJointGetPistonPosition", (void **) &dJointGetPistonPosition},
|
|
// {"dJointGetPistonPositionRate", (void **) &dJointGetPistonPositionRate},
|
|
// {"dJointGetPistonAngle", (void **) &dJointGetPistonAngle},
|
|
// {"dJointGetPistonAngleRate", (void **) &dJointGetPistonAngleRate},
|
|
// {"dJointGetPistonAnchor", (void **) &dJointGetPistonAnchor},
|
|
// {"dJointGetPistonAnchor2", (void **) &dJointGetPistonAnchor2},
|
|
// {"dJointGetPistonAxis", (void **) &dJointGetPistonAxis},
|
|
// {"dJointGetPistonParam", (void **) &dJointGetPistonParam},
|
|
// {"dJointGetAMotorNumAxes", (void **) &dJointGetAMotorNumAxes},
|
|
// {"dJointGetAMotorAxis", (void **) &dJointGetAMotorAxis},
|
|
// {"dJointGetAMotorAxisRel", (void **) &dJointGetAMotorAxisRel},
|
|
// {"dJointGetAMotorAngle", (void **) &dJointGetAMotorAngle},
|
|
// {"dJointGetAMotorAngleRate", (void **) &dJointGetAMotorAngleRate},
|
|
// {"dJointGetAMotorParam", (void **) &dJointGetAMotorParam},
|
|
// {"dJointGetAMotorMode", (void **) &dJointGetAMotorMode},
|
|
// {"dJointGetLMotorNumAxes", (void **) &dJointGetLMotorNumAxes},
|
|
// {"dJointGetLMotorAxis", (void **) &dJointGetLMotorAxis},
|
|
// {"dJointGetLMotorParam", (void **) &dJointGetLMotorParam},
|
|
// {"dJointGetFixedParam", (void **) &dJointGetFixedParam},
|
|
// {"dConnectingJoint", (void **) &dConnectingJoint},
|
|
// {"dConnectingJointList", (void **) &dConnectingJointList},
|
|
{"dAreConnected", (void **) &dAreConnected},
|
|
{"dAreConnectedExcluding", (void **) &dAreConnectedExcluding},
|
|
{"dSimpleSpaceCreate", (void **) &dSimpleSpaceCreate},
|
|
{"dHashSpaceCreate", (void **) &dHashSpaceCreate},
|
|
{"dQuadTreeSpaceCreate", (void **) &dQuadTreeSpaceCreate},
|
|
// {"dSweepAndPruneSpaceCreate", (void **) &dSweepAndPruneSpaceCreate},
|
|
{"dSpaceDestroy", (void **) &dSpaceDestroy},
|
|
// {"dHashSpaceSetLevels", (void **) &dHashSpaceSetLevels},
|
|
// {"dHashSpaceGetLevels", (void **) &dHashSpaceGetLevels},
|
|
// {"dSpaceSetCleanup", (void **) &dSpaceSetCleanup},
|
|
// {"dSpaceGetCleanup", (void **) &dSpaceGetCleanup},
|
|
// {"dSpaceSetSublevel", (void **) &dSpaceSetSublevel},
|
|
// {"dSpaceGetSublevel", (void **) &dSpaceGetSublevel},
|
|
// {"dSpaceSetManualCleanup", (void **) &dSpaceSetManualCleanup},
|
|
// {"dSpaceGetManualCleanup", (void **) &dSpaceGetManualCleanup},
|
|
// {"dSpaceAdd", (void **) &dSpaceAdd},
|
|
// {"dSpaceRemove", (void **) &dSpaceRemove},
|
|
// {"dSpaceQuery", (void **) &dSpaceQuery},
|
|
// {"dSpaceClean", (void **) &dSpaceClean},
|
|
// {"dSpaceGetNumGeoms", (void **) &dSpaceGetNumGeoms},
|
|
// {"dSpaceGetGeom", (void **) &dSpaceGetGeom},
|
|
// {"dSpaceGetClass", (void **) &dSpaceGetClass},
|
|
{"dGeomDestroy", (void **) &dGeomDestroy},
|
|
{"dGeomSetData", (void **) &dGeomSetData},
|
|
{"dGeomGetData", (void **) &dGeomGetData},
|
|
{"dGeomSetBody", (void **) &dGeomSetBody},
|
|
{"dGeomGetBody", (void **) &dGeomGetBody},
|
|
{"dGeomSetPosition", (void **) &dGeomSetPosition},
|
|
{"dGeomSetRotation", (void **) &dGeomSetRotation},
|
|
// {"dGeomSetQuaternion", (void **) &dGeomSetQuaternion},
|
|
// {"dGeomGetPosition", (void **) &dGeomGetPosition},
|
|
// {"dGeomCopyPosition", (void **) &dGeomCopyPosition},
|
|
// {"dGeomGetRotation", (void **) &dGeomGetRotation},
|
|
// {"dGeomCopyRotation", (void **) &dGeomCopyRotation},
|
|
// {"dGeomGetQuaternion", (void **) &dGeomGetQuaternion},
|
|
// {"dGeomGetAABB", (void **) &dGeomGetAABB},
|
|
{"dGeomIsSpace", (void **) &dGeomIsSpace},
|
|
// {"dGeomGetSpace", (void **) &dGeomGetSpace},
|
|
// {"dGeomGetClass", (void **) &dGeomGetClass},
|
|
// {"dGeomSetCategoryBits", (void **) &dGeomSetCategoryBits},
|
|
// {"dGeomSetCollideBits", (void **) &dGeomSetCollideBits},
|
|
// {"dGeomGetCategoryBits", (void **) &dGeomGetCategoryBits},
|
|
// {"dGeomGetCollideBits", (void **) &dGeomGetCollideBits},
|
|
// {"dGeomEnable", (void **) &dGeomEnable},
|
|
// {"dGeomDisable", (void **) &dGeomDisable},
|
|
// {"dGeomIsEnabled", (void **) &dGeomIsEnabled},
|
|
// {"dGeomSetOffsetPosition", (void **) &dGeomSetOffsetPosition},
|
|
// {"dGeomSetOffsetRotation", (void **) &dGeomSetOffsetRotation},
|
|
// {"dGeomSetOffsetQuaternion", (void **) &dGeomSetOffsetQuaternion},
|
|
// {"dGeomSetOffsetWorldPosition", (void **) &dGeomSetOffsetWorldPosition},
|
|
// {"dGeomSetOffsetWorldRotation", (void **) &dGeomSetOffsetWorldRotation},
|
|
// {"dGeomSetOffsetWorldQuaternion", (void **) &dGeomSetOffsetWorldQuaternion},
|
|
// {"dGeomClearOffset", (void **) &dGeomClearOffset},
|
|
// {"dGeomIsOffset", (void **) &dGeomIsOffset},
|
|
// {"dGeomGetOffsetPosition", (void **) &dGeomGetOffsetPosition},
|
|
// {"dGeomCopyOffsetPosition", (void **) &dGeomCopyOffsetPosition},
|
|
// {"dGeomGetOffsetRotation", (void **) &dGeomGetOffsetRotation},
|
|
// {"dGeomCopyOffsetRotation", (void **) &dGeomCopyOffsetRotation},
|
|
// {"dGeomGetOffsetQuaternion", (void **) &dGeomGetOffsetQuaternion},
|
|
{"dCollide", (void **) &dCollide},
|
|
{"dSpaceCollide", (void **) &dSpaceCollide},
|
|
{"dSpaceCollide2", (void **) &dSpaceCollide2},
|
|
{"dCreateSphere", (void **) &dCreateSphere},
|
|
// {"dGeomSphereSetRadius", (void **) &dGeomSphereSetRadius},
|
|
// {"dGeomSphereGetRadius", (void **) &dGeomSphereGetRadius},
|
|
// {"dGeomSpherePointDepth", (void **) &dGeomSpherePointDepth},
|
|
{"dCreateConvex", (void **) &dCreateConvex},
|
|
// {"dGeomSetConvex", (void **) &dGeomSetConvex},
|
|
{"dCreateBox", (void **) &dCreateBox},
|
|
// {"dGeomBoxSetLengths", (void **) &dGeomBoxSetLengths},
|
|
// {"dGeomBoxGetLengths", (void **) &dGeomBoxGetLengths},
|
|
// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
|
|
// {"dGeomBoxPointDepth", (void **) &dGeomBoxPointDepth},
|
|
// {"dCreatePlane", (void **) &dCreatePlane},
|
|
// {"dGeomPlaneSetParams", (void **) &dGeomPlaneSetParams},
|
|
// {"dGeomPlaneGetParams", (void **) &dGeomPlaneGetParams},
|
|
// {"dGeomPlanePointDepth", (void **) &dGeomPlanePointDepth},
|
|
{"dCreateCapsule", (void **) &dCreateCapsule},
|
|
// {"dGeomCapsuleSetParams", (void **) &dGeomCapsuleSetParams},
|
|
// {"dGeomCapsuleGetParams", (void **) &dGeomCapsuleGetParams},
|
|
// {"dGeomCapsulePointDepth", (void **) &dGeomCapsulePointDepth},
|
|
{"dCreateCylinder", (void **) &dCreateCylinder},
|
|
// {"dGeomCylinderSetParams", (void **) &dGeomCylinderSetParams},
|
|
// {"dGeomCylinderGetParams", (void **) &dGeomCylinderGetParams},
|
|
// {"dCreateRay", (void **) &dCreateRay},
|
|
// {"dGeomRaySetLength", (void **) &dGeomRaySetLength},
|
|
// {"dGeomRayGetLength", (void **) &dGeomRayGetLength},
|
|
// {"dGeomRaySet", (void **) &dGeomRaySet},
|
|
// {"dGeomRayGet", (void **) &dGeomRayGet},
|
|
{"dCreateGeomTransform", (void **) &dCreateGeomTransform},
|
|
{"dGeomTransformSetGeom", (void **) &dGeomTransformSetGeom},
|
|
// {"dGeomTransformGetGeom", (void **) &dGeomTransformGetGeom},
|
|
{"dGeomTransformSetCleanup", (void **) &dGeomTransformSetCleanup},
|
|
// {"dGeomTransformGetCleanup", (void **) &dGeomTransformGetCleanup},
|
|
// {"dGeomTransformSetInfo", (void **) &dGeomTransformSetInfo},
|
|
// {"dGeomTransformGetInfo", (void **) &dGeomTransformGetInfo},
|
|
{"dGeomTriMeshDataCreate", (void **) &dGeomTriMeshDataCreate},
|
|
{"dGeomTriMeshDataDestroy", (void **) &dGeomTriMeshDataDestroy},
|
|
// {"dGeomTriMeshDataSet", (void **) &dGeomTriMeshDataSet},
|
|
// {"dGeomTriMeshDataGet", (void **) &dGeomTriMeshDataGet},
|
|
// {"dGeomTriMeshSetLastTransform", (void **) &dGeomTriMeshSetLastTransform},
|
|
// {"dGeomTriMeshGetLastTransform", (void **) &dGeomTriMeshGetLastTransform},
|
|
{"dGeomTriMeshDataBuildSingle", (void **) &dGeomTriMeshDataBuildSingle},
|
|
// {"dGeomTriMeshDataBuildSingle1", (void **) &dGeomTriMeshDataBuildSingle1},
|
|
// {"dGeomTriMeshDataBuildDouble", (void **) &dGeomTriMeshDataBuildDouble},
|
|
// {"dGeomTriMeshDataBuildDouble1", (void **) &dGeomTriMeshDataBuildDouble1},
|
|
// {"dGeomTriMeshDataBuildSimple", (void **) &dGeomTriMeshDataBuildSimple},
|
|
// {"dGeomTriMeshDataBuildSimple1", (void **) &dGeomTriMeshDataBuildSimple1},
|
|
// {"dGeomTriMeshDataPreprocess", (void **) &dGeomTriMeshDataPreprocess},
|
|
// {"dGeomTriMeshDataGetBuffer", (void **) &dGeomTriMeshDataGetBuffer},
|
|
// {"dGeomTriMeshDataSetBuffer", (void **) &dGeomTriMeshDataSetBuffer},
|
|
// {"dGeomTriMeshSetCallback", (void **) &dGeomTriMeshSetCallback},
|
|
// {"dGeomTriMeshGetCallback", (void **) &dGeomTriMeshGetCallback},
|
|
// {"dGeomTriMeshSetArrayCallback", (void **) &dGeomTriMeshSetArrayCallback},
|
|
// {"dGeomTriMeshGetArrayCallback", (void **) &dGeomTriMeshGetArrayCallback},
|
|
// {"dGeomTriMeshSetRayCallback", (void **) &dGeomTriMeshSetRayCallback},
|
|
// {"dGeomTriMeshGetRayCallback", (void **) &dGeomTriMeshGetRayCallback},
|
|
// {"dGeomTriMeshSetTriMergeCallback", (void **) &dGeomTriMeshSetTriMergeCallback},
|
|
// {"dGeomTriMeshGetTriMergeCallback", (void **) &dGeomTriMeshGetTriMergeCallback},
|
|
{"dCreateTriMesh", (void **) &dCreateTriMesh},
|
|
// {"dGeomTriMeshSetData", (void **) &dGeomTriMeshSetData},
|
|
// {"dGeomTriMeshGetData", (void **) &dGeomTriMeshGetData},
|
|
// {"dGeomTriMeshEnableTC", (void **) &dGeomTriMeshEnableTC},
|
|
// {"dGeomTriMeshIsTCEnabled", (void **) &dGeomTriMeshIsTCEnabled},
|
|
// {"dGeomTriMeshClearTCCache", (void **) &dGeomTriMeshClearTCCache},
|
|
// {"dGeomTriMeshGetTriMeshDataID", (void **) &dGeomTriMeshGetTriMeshDataID},
|
|
// {"dGeomTriMeshGetTriangle", (void **) &dGeomTriMeshGetTriangle},
|
|
// {"dGeomTriMeshGetPoint", (void **) &dGeomTriMeshGetPoint},
|
|
// {"dGeomTriMeshGetTriangleCount", (void **) &dGeomTriMeshGetTriangleCount},
|
|
// {"dGeomTriMeshDataUpdate", (void **) &dGeomTriMeshDataUpdate},
|
|
{NULL, NULL}
|
|
};
|
|
|
|
// Handle for ODE DLL
|
|
dllhandle_t ode_dll = NULL;
|
|
#endif
|
|
#endif
|
|
|
|
static void World_Physics_Init(void)
|
|
{
|
|
#ifdef USEODE
|
|
#ifndef LINK_TO_LIBODE
|
|
const char* dllnames [] =
|
|
{
|
|
# if defined(WIN32)
|
|
"libode3.dll",
|
|
"libode2.dll",
|
|
"libode1.dll",
|
|
# elif defined(MACOSX)
|
|
"libode.3.dylib",
|
|
"libode.2.dylib",
|
|
"libode.1.dylib",
|
|
# else
|
|
"libode.so.3",
|
|
"libode.so.2",
|
|
"libode.so.1",
|
|
# endif
|
|
NULL
|
|
};
|
|
#endif
|
|
|
|
Cvar_RegisterVariable(&physics_ode_quadtree_depth);
|
|
Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
|
|
Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
|
|
Cvar_RegisterVariable(&physics_ode_contact_mu);
|
|
Cvar_RegisterVariable(&physics_ode_contact_erp);
|
|
Cvar_RegisterVariable(&physics_ode_contact_cfm);
|
|
Cvar_RegisterVariable(&physics_ode_contact_maxpoints);
|
|
Cvar_RegisterVariable(&physics_ode_world_erp);
|
|
Cvar_RegisterVariable(&physics_ode_world_cfm);
|
|
Cvar_RegisterVariable(&physics_ode_world_damping);
|
|
Cvar_RegisterVariable(&physics_ode_world_damping_linear);
|
|
Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
|
|
Cvar_RegisterVariable(&physics_ode_world_damping_angular);
|
|
Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
|
|
Cvar_RegisterVariable(&physics_ode_world_gravitymod);
|
|
Cvar_RegisterVariable(&physics_ode_iterationsperframe);
|
|
Cvar_RegisterVariable(&physics_ode_constantstep);
|
|
Cvar_RegisterVariable(&physics_ode_movelimit);
|
|
Cvar_RegisterVariable(&physics_ode_spinlimit);
|
|
Cvar_RegisterVariable(&physics_ode_trick_fixnan);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable_steps);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable_time);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
|
|
Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
|
|
Cvar_RegisterVariable(&physics_ode_printstats);
|
|
Cvar_RegisterVariable(&physics_ode_allowconvex);
|
|
Cvar_RegisterVariable(&physics_ode);
|
|
|
|
#ifndef LINK_TO_LIBODE
|
|
// Load the DLL
|
|
if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
|
|
#endif
|
|
{
|
|
dInitODE();
|
|
// dInitODE2(0);
|
|
#ifndef LINK_TO_LIBODE
|
|
# ifdef dSINGLE
|
|
if (!dCheckConfiguration("ODE_single_precision"))
|
|
# else
|
|
if (!dCheckConfiguration("ODE_double_precision"))
|
|
# endif
|
|
{
|
|
# ifdef dSINGLE
|
|
Con_Printf("ODE library not compiled for single precision - incompatible! Not using ODE physics.\n");
|
|
# else
|
|
Con_Printf("ODE library not compiled for double precision - incompatible! Not using ODE physics.\n");
|
|
# endif
|
|
Sys_UnloadLibrary(&ode_dll);
|
|
ode_dll = NULL;
|
|
}
|
|
else
|
|
{
|
|
# ifdef dSINGLE
|
|
Con_Printf("ODE library loaded with single precision.\n");
|
|
# else
|
|
Con_Printf("ODE library loaded with double precision.\n");
|
|
# endif
|
|
Con_Printf("ODE configuration list: %s\n", dGetConfiguration());
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
static void World_Physics_Shutdown(void)
|
|
{
|
|
#ifdef USEODE
|
|
#ifndef LINK_TO_LIBODE
|
|
if (ode_dll)
|
|
#endif
|
|
{
|
|
dCloseODE();
|
|
#ifndef LINK_TO_LIBODE
|
|
Sys_UnloadLibrary(&ode_dll);
|
|
ode_dll = NULL;
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
#ifdef USEODE
|
|
static void World_Physics_UpdateODE(world_t *world)
|
|
{
|
|
dWorldID odeworld;
|
|
|
|
odeworld = (dWorldID)world->physics.ode_world;
|
|
|
|
// ERP and CFM
|
|
if (physics_ode_world_erp.value >= 0)
|
|
dWorldSetERP(odeworld, physics_ode_world_erp.value);
|
|
if (physics_ode_world_cfm.value >= 0)
|
|
dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
|
|
// Damping
|
|
if (physics_ode_world_damping.integer)
|
|
{
|
|
dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
|
|
dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
|
|
dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
|
|
dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
|
|
}
|
|
else
|
|
{
|
|
dWorldSetLinearDamping(odeworld, 0);
|
|
dWorldSetLinearDampingThreshold(odeworld, 0);
|
|
dWorldSetAngularDamping(odeworld, 0);
|
|
dWorldSetAngularDampingThreshold(odeworld, 0);
|
|
}
|
|
// Autodisable
|
|
dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
|
|
if (physics_ode_autodisable.integer)
|
|
{
|
|
dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100));
|
|
dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
|
|
dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
|
|
dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value);
|
|
dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value);
|
|
}
|
|
}
|
|
|
|
static void World_Physics_EnableODE(world_t *world)
|
|
{
|
|
dVector3 center, extents;
|
|
if (world->physics.ode)
|
|
return;
|
|
#ifndef LINK_TO_LIBODE
|
|
if (!ode_dll)
|
|
return;
|
|
#endif
|
|
world->physics.ode = true;
|
|
VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
|
|
VectorSubtract(world->maxs, center, extents);
|
|
world->physics.ode_world = dWorldCreate();
|
|
world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
|
|
world->physics.ode_contactgroup = dJointGroupCreate(0);
|
|
|
|
World_Physics_UpdateODE(world);
|
|
}
|
|
#endif
|
|
|
|
static void World_Physics_Start(world_t *world)
|
|
{
|
|
#ifdef USEODE
|
|
if (world->physics.ode)
|
|
return;
|
|
World_Physics_EnableODE(world);
|
|
#endif
|
|
}
|
|
|
|
static void World_Physics_End(world_t *world)
|
|
{
|
|
#ifdef USEODE
|
|
if (world->physics.ode)
|
|
{
|
|
dWorldDestroy((dWorldID)world->physics.ode_world);
|
|
dSpaceDestroy((dSpaceID)world->physics.ode_space);
|
|
dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
|
|
world->physics.ode = false;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
ed->priv.server->ode_joint_type = 0;
|
|
#ifdef USEODE
|
|
if(ed->priv.server->ode_joint)
|
|
dJointDestroy((dJointID)ed->priv.server->ode_joint);
|
|
ed->priv.server->ode_joint = NULL;
|
|
#endif
|
|
}
|
|
|
|
void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
edict_odefunc_t *f, *nf;
|
|
|
|
// entity is not physics controlled, free any physics data
|
|
ed->priv.server->ode_physics = false;
|
|
#ifdef USEODE
|
|
if (ed->priv.server->ode_geom)
|
|
dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
|
|
ed->priv.server->ode_geom = NULL;
|
|
if (ed->priv.server->ode_body)
|
|
{
|
|
dJointID j;
|
|
dBodyID b1, b2;
|
|
prvm_edict_t *ed2;
|
|
while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
|
|
{
|
|
j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
|
|
ed2 = (prvm_edict_t *) dJointGetData(j);
|
|
b1 = dJointGetBody(j, 0);
|
|
b2 = dJointGetBody(j, 1);
|
|
if(b1 == (dBodyID)ed->priv.server->ode_body)
|
|
{
|
|
b1 = 0;
|
|
ed2->priv.server->ode_joint_enemy = 0;
|
|
}
|
|
if(b2 == (dBodyID)ed->priv.server->ode_body)
|
|
{
|
|
b2 = 0;
|
|
ed2->priv.server->ode_joint_aiment = 0;
|
|
}
|
|
dJointAttach(j, b1, b2);
|
|
}
|
|
dBodyDestroy((dBodyID)ed->priv.server->ode_body);
|
|
}
|
|
ed->priv.server->ode_body = NULL;
|
|
#endif
|
|
if (ed->priv.server->ode_vertex3f)
|
|
Mem_Free(ed->priv.server->ode_vertex3f);
|
|
ed->priv.server->ode_vertex3f = NULL;
|
|
ed->priv.server->ode_numvertices = 0;
|
|
if (ed->priv.server->ode_element3i)
|
|
Mem_Free(ed->priv.server->ode_element3i);
|
|
ed->priv.server->ode_element3i = NULL;
|
|
ed->priv.server->ode_numtriangles = 0;
|
|
if(ed->priv.server->ode_massbuf)
|
|
Mem_Free(ed->priv.server->ode_massbuf);
|
|
ed->priv.server->ode_massbuf = NULL;
|
|
// clear functions stack
|
|
for(f = ed->priv.server->ode_func; f; f = nf)
|
|
{
|
|
nf = f->next;
|
|
Mem_Free(f);
|
|
}
|
|
ed->priv.server->ode_func = NULL;
|
|
}
|
|
|
|
void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
|
|
{
|
|
#ifdef USEODE
|
|
dBodyID body = (dBodyID)ed->priv.server->ode_body;
|
|
|
|
switch(f->type)
|
|
{
|
|
case ODEFUNC_ENABLE:
|
|
dBodyEnable(body);
|
|
break;
|
|
case ODEFUNC_DISABLE:
|
|
dBodyDisable(body);
|
|
break;
|
|
case ODEFUNC_FORCE:
|
|
dBodyEnable(body);
|
|
dBodyAddForceAtPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
|
|
break;
|
|
case ODEFUNC_TORQUE:
|
|
dBodyEnable(body);
|
|
dBodyAddTorque(body, f->v1[0], f->v1[1], f->v1[2]);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
#ifdef USEODE
|
|
static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
prvm_prog_t *prog = world->prog;
|
|
const dReal *avel;
|
|
const dReal *o;
|
|
const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
|
|
const dReal *vel;
|
|
dBodyID body = (dBodyID)ed->priv.server->ode_body;
|
|
int movetype;
|
|
matrix4x4_t bodymatrix;
|
|
matrix4x4_t entitymatrix;
|
|
vec3_t angles;
|
|
vec3_t avelocity;
|
|
vec3_t forward, left, up;
|
|
vec3_t origin;
|
|
vec3_t spinvelocity;
|
|
vec3_t velocity;
|
|
int jointtype;
|
|
if (!body)
|
|
return;
|
|
movetype = (int)PRVM_gameedictfloat(ed, movetype);
|
|
if (movetype != MOVETYPE_PHYSICS)
|
|
{
|
|
jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
|
|
switch(jointtype)
|
|
{
|
|
// TODO feed back data from physics
|
|
case JOINTTYPE_POINT:
|
|
break;
|
|
case JOINTTYPE_HINGE:
|
|
break;
|
|
case JOINTTYPE_SLIDER:
|
|
break;
|
|
case JOINTTYPE_UNIVERSAL:
|
|
break;
|
|
case JOINTTYPE_HINGE2:
|
|
break;
|
|
case JOINTTYPE_FIXED:
|
|
break;
|
|
}
|
|
return;
|
|
}
|
|
// store the physics engine data into the entity
|
|
o = dBodyGetPosition(body);
|
|
r = dBodyGetRotation(body);
|
|
vel = dBodyGetLinearVel(body);
|
|
avel = dBodyGetAngularVel(body);
|
|
VectorCopy(o, origin);
|
|
forward[0] = r[0];
|
|
forward[1] = r[4];
|
|
forward[2] = r[8];
|
|
left[0] = r[1];
|
|
left[1] = r[5];
|
|
left[2] = r[9];
|
|
up[0] = r[2];
|
|
up[1] = r[6];
|
|
up[2] = r[10];
|
|
VectorCopy(vel, velocity);
|
|
VectorCopy(avel, spinvelocity);
|
|
Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
|
|
Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
|
|
Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
|
|
|
|
AnglesFromVectors(angles, forward, up, false);
|
|
VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
|
|
|
|
{
|
|
float pitchsign = 1;
|
|
if(prog == SVVM_prog) // FIXME some better way?
|
|
{
|
|
pitchsign = SV_GetPitchSign(prog, ed);
|
|
}
|
|
else if(prog == CLVM_prog)
|
|
{
|
|
pitchsign = CL_GetPitchSign(prog, ed);
|
|
}
|
|
angles[PITCH] *= pitchsign;
|
|
avelocity[PITCH] *= pitchsign;
|
|
}
|
|
|
|
VectorCopy(origin, PRVM_gameedictvector(ed, origin));
|
|
VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
|
|
//VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
|
|
//VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
|
|
//VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
|
|
//VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
|
|
VectorCopy(angles, PRVM_gameedictvector(ed, angles));
|
|
VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));
|
|
|
|
// values for BodyFromEntity to check if the qc modified anything later
|
|
VectorCopy(origin, ed->priv.server->ode_origin);
|
|
VectorCopy(velocity, ed->priv.server->ode_velocity);
|
|
VectorCopy(angles, ed->priv.server->ode_angles);
|
|
VectorCopy(avelocity, ed->priv.server->ode_avelocity);
|
|
ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;
|
|
|
|
if(prog == SVVM_prog) // FIXME some better way?
|
|
{
|
|
SV_LinkEdict(ed);
|
|
SV_LinkEdict_TouchAreaGrid(ed);
|
|
}
|
|
}
|
|
|
|
static void World_Physics_Frame_ForceFromEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
prvm_prog_t *prog = world->prog;
|
|
int forcetype = 0, movetype = 0, enemy = 0;
|
|
vec3_t movedir, origin;
|
|
|
|
movetype = (int)PRVM_gameedictfloat(ed, movetype);
|
|
forcetype = (int)PRVM_gameedictfloat(ed, forcetype);
|
|
if (movetype == MOVETYPE_PHYSICS)
|
|
forcetype = FORCETYPE_NONE; // can't have both
|
|
if (!forcetype)
|
|
return;
|
|
enemy = PRVM_gameedictedict(ed, enemy);
|
|
if (enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
|
|
return;
|
|
VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
|
|
VectorCopy(PRVM_gameedictvector(ed, origin), origin);
|
|
dBodyEnable((dBodyID)prog->edicts[enemy].priv.server->ode_body);
|
|
switch(forcetype)
|
|
{
|
|
case FORCETYPE_FORCE:
|
|
if (movedir[0] || movedir[1] || movedir[2])
|
|
dBodyAddForce((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
|
|
break;
|
|
case FORCETYPE_FORCEATPOS:
|
|
if (movedir[0] || movedir[1] || movedir[2])
|
|
dBodyAddForceAtPos((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2], origin[0], origin[1], origin[2]);
|
|
break;
|
|
case FORCETYPE_TORQUE:
|
|
if (movedir[0] || movedir[1] || movedir[2])
|
|
dBodyAddTorque((dBodyID)prog->edicts[enemy].priv.server->ode_body, movedir[0], movedir[1], movedir[2]);
|
|
break;
|
|
case FORCETYPE_NONE:
|
|
default:
|
|
// bad force
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
prvm_prog_t *prog = world->prog;
|
|
dJointID j = 0;
|
|
dBodyID b1 = 0;
|
|
dBodyID b2 = 0;
|
|
int movetype = 0;
|
|
int jointtype = 0;
|
|
int enemy = 0, aiment = 0;
|
|
vec3_t origin, velocity, angles, forward, left, up, movedir;
|
|
vec_t CFM, ERP, FMax, Stop, Vel;
|
|
|
|
movetype = (int)PRVM_gameedictfloat(ed, movetype);
|
|
jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
|
|
VectorClear(origin);
|
|
VectorClear(velocity);
|
|
VectorClear(angles);
|
|
VectorClear(movedir);
|
|
enemy = PRVM_gameedictedict(ed, enemy);
|
|
aiment = PRVM_gameedictedict(ed, aiment);
|
|
VectorCopy(PRVM_gameedictvector(ed, origin), origin);
|
|
VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
|
|
VectorCopy(PRVM_gameedictvector(ed, angles), angles);
|
|
VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
|
|
if(movetype == MOVETYPE_PHYSICS)
|
|
jointtype = JOINTTYPE_NONE; // can't have both
|
|
if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
|
|
enemy = 0;
|
|
if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
|
|
aiment = 0;
|
|
// see http://www.ode.org/old_list_archives/2006-January/017614.html
|
|
// we want to set ERP? make it fps independent and work like a spring constant
|
|
// note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
|
|
if(movedir[0] > 0 && movedir[1] > 0)
|
|
{
|
|
float K = movedir[0];
|
|
float D = movedir[1];
|
|
float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
|
|
CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
|
|
ERP = world->physics.ode_step * K * CFM;
|
|
Vel = 0;
|
|
FMax = 0;
|
|
Stop = movedir[2];
|
|
}
|
|
else if(movedir[1] < 0)
|
|
{
|
|
CFM = 0;
|
|
ERP = 0;
|
|
Vel = movedir[0];
|
|
FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
|
|
Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
|
|
}
|
|
else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
|
|
{
|
|
CFM = 0;
|
|
ERP = 0;
|
|
Vel = 0;
|
|
FMax = 0;
|
|
Stop = dInfinity;
|
|
}
|
|
if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
|
|
return; // nothing to do
|
|
AngleVectorsFLU(angles, forward, left, up);
|
|
switch(jointtype)
|
|
{
|
|
case JOINTTYPE_POINT:
|
|
j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_HINGE:
|
|
j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_SLIDER:
|
|
j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_UNIVERSAL:
|
|
j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_HINGE2:
|
|
j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_FIXED:
|
|
j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
|
|
break;
|
|
case JOINTTYPE_NONE:
|
|
default:
|
|
// no joint
|
|
j = 0;
|
|
break;
|
|
}
|
|
if(ed->priv.server->ode_joint)
|
|
{
|
|
//Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
|
|
dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
|
|
dJointDestroy((dJointID)ed->priv.server->ode_joint);
|
|
}
|
|
ed->priv.server->ode_joint = (void *) j;
|
|
ed->priv.server->ode_joint_type = jointtype;
|
|
ed->priv.server->ode_joint_enemy = enemy;
|
|
ed->priv.server->ode_joint_aiment = aiment;
|
|
VectorCopy(origin, ed->priv.server->ode_joint_origin);
|
|
VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
|
|
VectorCopy(angles, ed->priv.server->ode_joint_angles);
|
|
VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
|
|
if(j)
|
|
{
|
|
//Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
|
|
dJointSetData(j, (void *) ed);
|
|
if(enemy)
|
|
b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
|
|
if(aiment)
|
|
b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
|
|
dJointAttach(j, b1, b2);
|
|
|
|
switch(jointtype)
|
|
{
|
|
case JOINTTYPE_POINT:
|
|
dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
|
|
break;
|
|
case JOINTTYPE_HINGE:
|
|
dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
|
|
dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
|
|
dJointSetHingeParam(j, dParamFMax, FMax);
|
|
dJointSetHingeParam(j, dParamHiStop, Stop);
|
|
dJointSetHingeParam(j, dParamLoStop, -Stop);
|
|
dJointSetHingeParam(j, dParamStopCFM, CFM);
|
|
dJointSetHingeParam(j, dParamStopERP, ERP);
|
|
dJointSetHingeParam(j, dParamVel, Vel);
|
|
break;
|
|
case JOINTTYPE_SLIDER:
|
|
dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
|
|
dJointSetSliderParam(j, dParamFMax, FMax);
|
|
dJointSetSliderParam(j, dParamHiStop, Stop);
|
|
dJointSetSliderParam(j, dParamLoStop, -Stop);
|
|
dJointSetSliderParam(j, dParamStopCFM, CFM);
|
|
dJointSetSliderParam(j, dParamStopERP, ERP);
|
|
dJointSetSliderParam(j, dParamVel, Vel);
|
|
break;
|
|
case JOINTTYPE_UNIVERSAL:
|
|
dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
|
|
dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
|
|
dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
|
|
dJointSetUniversalParam(j, dParamFMax, FMax);
|
|
dJointSetUniversalParam(j, dParamHiStop, Stop);
|
|
dJointSetUniversalParam(j, dParamLoStop, -Stop);
|
|
dJointSetUniversalParam(j, dParamStopCFM, CFM);
|
|
dJointSetUniversalParam(j, dParamStopERP, ERP);
|
|
dJointSetUniversalParam(j, dParamVel, Vel);
|
|
dJointSetUniversalParam(j, dParamFMax2, FMax);
|
|
dJointSetUniversalParam(j, dParamHiStop2, Stop);
|
|
dJointSetUniversalParam(j, dParamLoStop2, -Stop);
|
|
dJointSetUniversalParam(j, dParamStopCFM2, CFM);
|
|
dJointSetUniversalParam(j, dParamStopERP2, ERP);
|
|
dJointSetUniversalParam(j, dParamVel2, Vel);
|
|
break;
|
|
case JOINTTYPE_HINGE2:
|
|
dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
|
|
dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
|
|
dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
|
|
dJointSetHinge2Param(j, dParamFMax, FMax);
|
|
dJointSetHinge2Param(j, dParamHiStop, Stop);
|
|
dJointSetHinge2Param(j, dParamLoStop, -Stop);
|
|
dJointSetHinge2Param(j, dParamStopCFM, CFM);
|
|
dJointSetHinge2Param(j, dParamStopERP, ERP);
|
|
dJointSetHinge2Param(j, dParamVel, Vel);
|
|
dJointSetHinge2Param(j, dParamFMax2, FMax);
|
|
dJointSetHinge2Param(j, dParamHiStop2, Stop);
|
|
dJointSetHinge2Param(j, dParamLoStop2, -Stop);
|
|
dJointSetHinge2Param(j, dParamStopCFM2, CFM);
|
|
dJointSetHinge2Param(j, dParamStopERP2, ERP);
|
|
dJointSetHinge2Param(j, dParamVel2, Vel);
|
|
break;
|
|
case JOINTTYPE_FIXED:
|
|
break;
|
|
case 0:
|
|
default:
|
|
Sys_Error("what? but above the joint was valid...\n");
|
|
break;
|
|
}
|
|
#undef SETPARAMS
|
|
|
|
}
|
|
}
|
|
|
|
// test convex geometry data
|
|
// planes for a cube, these should coincide with the
|
|
dReal test_convex_planes[] =
|
|
{
|
|
1.0f ,0.0f ,0.0f ,2.25f,
|
|
0.0f ,1.0f ,0.0f ,2.25f,
|
|
0.0f ,0.0f ,1.0f ,2.25f,
|
|
-1.0f,0.0f ,0.0f ,2.25f,
|
|
0.0f ,-1.0f,0.0f ,2.25f,
|
|
0.0f ,0.0f ,-1.0f,2.25f
|
|
};
|
|
const unsigned int test_convex_planecount = 6;
|
|
// points for a cube
|
|
dReal test_convex_points[] =
|
|
{
|
|
2.25f,2.25f,2.25f, // point 0
|
|
-2.25f,2.25f,2.25f, // point 1
|
|
2.25f,-2.25f,2.25f, // point 2
|
|
-2.25f,-2.25f,2.25f, // point 3
|
|
2.25f,2.25f,-2.25f, // point 4
|
|
-2.25f,2.25f,-2.25f, // point 5
|
|
2.25f,-2.25f,-2.25f, // point 6
|
|
-2.25f,-2.25f,-2.25f, // point 7
|
|
};
|
|
const unsigned int test_convex_pointcount = 8;
|
|
// polygons for a cube (6 squares), index
|
|
unsigned int test_convex_polygons[] =
|
|
{
|
|
4,0,2,6,4, // positive X
|
|
4,1,0,4,5, // positive Y
|
|
4,0,1,3,2, // positive Z
|
|
4,3,1,5,7, // negative X
|
|
4,2,3,7,6, // negative Y
|
|
4,5,4,6,7, // negative Z
|
|
};
|
|
|
|
static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
|
|
{
|
|
prvm_prog_t *prog = world->prog;
|
|
const float *iv;
|
|
const int *ie;
|
|
dBodyID body;
|
|
dMass mass;
|
|
const dReal *ovelocity, *ospinvelocity;
|
|
void *dataID;
|
|
dp_model_t *model;
|
|
float *ov;
|
|
int *oe;
|
|
int axisindex;
|
|
int modelindex = 0;
|
|
int movetype = MOVETYPE_NONE;
|
|
int numtriangles;
|
|
int numvertices;
|
|
int solid = SOLID_NOT, geomtype = 0;
|
|
int triangleindex;
|
|
int vertexindex;
|
|
mempool_t *mempool;
|
|
qboolean modified = false;
|
|
vec3_t angles;
|
|
vec3_t avelocity;
|
|
vec3_t entmaxs;
|
|
vec3_t entmins;
|
|
vec3_t forward;
|
|
vec3_t geomcenter;
|
|
vec3_t geomsize;
|
|
vec3_t left;
|
|
vec3_t origin;
|
|
vec3_t spinvelocity;
|
|
vec3_t up;
|
|
vec3_t velocity;
|
|
vec_t f;
|
|
vec_t length;
|
|
vec_t massval = 1.0f;
|
|
vec_t movelimit;
|
|
vec_t radius;
|
|
vec3_t scale;
|
|
vec_t spinlimit;
|
|
vec_t test;
|
|
qboolean gravity;
|
|
qboolean geom_modified = false;
|
|
edict_odefunc_t *func, *nextf;
|
|
|
|
dReal *planes, *planesData, *pointsData;
|
|
unsigned int *polygons, *polygonsData, polyvert;
|
|
qboolean *mapped, *used, convex_compatible;
|
|
int numplanes = 0, numpoints = 0, i;
|
|
|
|
#ifndef LINK_TO_LIBODE
|
|
if (!ode_dll)
|
|
return;
|
|
#endif
|
|
VectorClear(entmins);
|
|
VectorClear(entmaxs);
|
|
|
|
solid = (int)PRVM_gameedictfloat(ed, solid);
|
|
geomtype = (int)PRVM_gameedictfloat(ed, geomtype);
|
|
movetype = (int)PRVM_gameedictfloat(ed, movetype);
|
|
// support scale and q3map/radiant's modelscale_vec
|
|
if (PRVM_gameedictvector(ed, modelscale_vec)[0] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[1] != 0.0 || PRVM_gameedictvector(ed, modelscale_vec)[2] != 0.0)
|
|
VectorCopy(PRVM_gameedictvector(ed, modelscale_vec), scale);
|
|
else if (PRVM_gameedictfloat(ed, scale))
|
|
VectorSet(scale, PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale), PRVM_gameedictfloat(ed, scale));
|
|
else
|
|
VectorSet(scale, 1.0f, 1.0f, 1.0f);
|
|
modelindex = 0;
|
|
if (PRVM_gameedictfloat(ed, mass))
|
|
massval = PRVM_gameedictfloat(ed, mass);
|
|
if (movetype != MOVETYPE_PHYSICS)
|
|
massval = 1.0f;
|
|
mempool = prog->progs_mempool;
|
|
model = NULL;
|
|
if (!geomtype)
|
|
{
|
|
// VorteX: keep support for deprecated solid fields to not break mods
|
|
if (solid == SOLID_PHYSICS_TRIMESH || solid == SOLID_BSP)
|
|
geomtype = GEOMTYPE_TRIMESH;
|
|
else if (solid == SOLID_NOT || solid == SOLID_TRIGGER)
|
|
geomtype = GEOMTYPE_NONE;
|
|
else if (solid == SOLID_PHYSICS_SPHERE)
|
|
geomtype = GEOMTYPE_SPHERE;
|
|
else if (solid == SOLID_PHYSICS_CAPSULE)
|
|
geomtype = GEOMTYPE_CAPSULE;
|
|
else if (solid == SOLID_PHYSICS_CYLINDER)
|
|
geomtype = GEOMTYPE_CYLINDER;
|
|
else if (solid == SOLID_PHYSICS_BOX)
|
|
geomtype = GEOMTYPE_BOX;
|
|
else
|
|
geomtype = GEOMTYPE_BOX;
|
|
}
|
|
if (geomtype == GEOMTYPE_TRIMESH)
|
|
{
|
|
modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
|
|
if (world == &sv.world)
|
|
model = SV_GetModelByIndex(modelindex);
|
|
else if (world == &cl.world)
|
|
model = CL_GetModelByIndex(modelindex);
|
|
else
|
|
model = NULL;
|
|
if (model)
|
|
{
|
|
entmins[0] = model->normalmins[0] * scale[0];
|
|
entmins[1] = model->normalmins[1] * scale[1];
|
|
entmins[2] = model->normalmins[2] * scale[2];
|
|
entmaxs[0] = model->normalmaxs[0] * scale[0];
|
|
entmaxs[1] = model->normalmaxs[1] * scale[1];
|
|
entmaxs[2] = model->normalmaxs[2] * scale[2];
|
|
geom_modified = !VectorCompare(ed->priv.server->ode_scale, scale) || ed->priv.server->ode_modelindex != modelindex;
|
|
}
|
|
else
|
|
{
|
|
Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
|
|
geomtype = GEOMTYPE_BOX;
|
|
VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
|
|
VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
|
|
modelindex = 0;
|
|
geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
|
|
}
|
|
}
|
|
else if (geomtype && geomtype != GEOMTYPE_NONE)
|
|
{
|
|
VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
|
|
VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
|
|
geom_modified = !VectorCompare(ed->priv.server->ode_mins, entmins) || !VectorCompare(ed->priv.server->ode_maxs, entmaxs);
|
|
}
|
|
else
|
|
{
|
|
// geometry type not set, falling back
|
|
if (ed->priv.server->ode_physics)
|
|
World_Physics_RemoveFromEntity(world, ed);
|
|
return;
|
|
}
|
|
|
|
VectorSubtract(entmaxs, entmins, geomsize);
|
|
if (VectorLength2(geomsize) == 0)
|
|
{
|
|
// we don't allow point-size physics objects...
|
|
if (ed->priv.server->ode_physics)
|
|
World_Physics_RemoveFromEntity(world, ed);
|
|
return;
|
|
}
|
|
|
|
// get friction
|
|
ed->priv.server->ode_friction = PRVM_gameedictfloat(ed, friction) ? PRVM_gameedictfloat(ed, friction) : 1.0f;
|
|
|
|
// check if we need to create or replace the geom
|
|
if (!ed->priv.server->ode_physics || ed->priv.server->ode_mass != massval || geom_modified)
|
|
{
|
|
modified = true;
|
|
World_Physics_RemoveFromEntity(world, ed);
|
|
ed->priv.server->ode_physics = true;
|
|
VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
|
|
if (PRVM_gameedictvector(ed, massofs))
|
|
VectorCopy(geomcenter, PRVM_gameedictvector(ed, massofs));
|
|
|
|
// check geomsize
|
|
if (geomsize[0] * geomsize[1] * geomsize[2] == 0)
|
|
{
|
|
if (movetype == MOVETYPE_PHYSICS)
|
|
Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
|
|
VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
|
|
}
|
|
|
|
// greate geom
|
|
switch(geomtype)
|
|
{
|
|
case GEOMTYPE_TRIMESH:
|
|
// add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
|
|
if (!model->brush.collisionmesh)
|
|
Mod_CreateCollisionMesh(model);
|
|
if (!model->brush.collisionmesh)
|
|
{
|
|
Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)));
|
|
goto treatasbox;
|
|
}
|
|
|
|
// check if trimesh can be defined with convex
|
|
convex_compatible = false;
|
|
for (i = 0;i < model->nummodelsurfaces;i++)
|
|
{
|
|
if (!strcmp(((msurface_t *)(model->data_surfaces + model->firstmodelsurface + i))->texture->name, "collisionconvex"))
|
|
{
|
|
convex_compatible = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// ODE requires persistent mesh storage, so we need to copy out
|
|
// the data from the model because renderer restarts could free it
|
|
// during the game, additionally we need to flip the triangles...
|
|
// note: ODE does preprocessing of the mesh for culling, removing
|
|
// concave edges, etc., so this is not a lightweight operation
|
|
ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
|
|
ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
|
|
|
|
// VorteX: rebuild geomsize based on entity's collision mesh, honor scale
|
|
VectorSet(entmins, 0, 0, 0);
|
|
VectorSet(entmaxs, 0, 0, 0);
|
|
for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
|
|
{
|
|
ov[0] = iv[0] * scale[0];
|
|
ov[1] = iv[1] * scale[1];
|
|
ov[2] = iv[2] * scale[2];
|
|
entmins[0] = min(entmins[0], ov[0]);
|
|
entmins[1] = min(entmins[1], ov[1]);
|
|
entmins[2] = min(entmins[2], ov[2]);
|
|
entmaxs[0] = max(entmaxs[0], ov[0]);
|
|
entmaxs[1] = max(entmaxs[1], ov[1]);
|
|
entmaxs[2] = max(entmaxs[2], ov[2]);
|
|
}
|
|
if (!PRVM_gameedictvector(ed, massofs))
|
|
VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
|
|
for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
|
|
{
|
|
ov[0] = ov[0] - geomcenter[0];
|
|
ov[1] = ov[1] - geomcenter[1];
|
|
ov[2] = ov[2] - geomcenter[2];
|
|
}
|
|
VectorSubtract(entmaxs, entmins, geomsize);
|
|
if (VectorLength2(geomsize) == 0)
|
|
{
|
|
if (movetype == MOVETYPE_PHYSICS)
|
|
Con_Printf("entity %i collision mesh has null geomsize\n", PRVM_NUM_FOR_EDICT(ed));
|
|
VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
|
|
}
|
|
ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
|
|
ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
|
|
//memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
|
|
for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
|
|
{
|
|
oe[0] = ie[2];
|
|
oe[1] = ie[1];
|
|
oe[2] = ie[0];
|
|
}
|
|
// create geom
|
|
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
|
|
if (!convex_compatible || !physics_ode_allowconvex.integer)
|
|
{
|
|
// trimesh
|
|
dataID = dGeomTriMeshDataCreate();
|
|
dGeomTriMeshDataBuildSingle((dTriMeshDataID)dataID, (void*)ed->priv.server->ode_vertex3f, sizeof(float[3]), ed->priv.server->ode_numvertices, ed->priv.server->ode_element3i, ed->priv.server->ode_numtriangles*3, sizeof(int[3]));
|
|
ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
|
|
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
|
|
}
|
|
else
|
|
{
|
|
// VorteX: this code is unfinished in two ways
|
|
// - no duplicate vertex merging are done
|
|
// - triangles that shares same edge and havee sam plane are not merget into poly
|
|
// so, currently it only works for geosphere meshes with no UV
|
|
|
|
Con_Printf("Build convex hull for model %s...\n", model->name);
|
|
// build convex geometry from trimesh data
|
|
// this ensures that trimesh's triangles can form correct convex geometry
|
|
// not many of error checking is performed
|
|
// ODE's conve hull data consist of:
|
|
// planes : an array of planes in the form: normal X, normal Y, normal Z, distance
|
|
// points : an array of points X,Y,Z
|
|
// polygons: an array of indices to the points of each polygon,it should be the number of vertices
|
|
// followed by that amount of indices to "points" in counter clockwise order
|
|
polygonsData = polygons = (unsigned int *)Mem_Alloc(mempool, numtriangles*sizeof(int)*4);
|
|
planesData = planes = (dReal *)Mem_Alloc(mempool, numtriangles*sizeof(dReal)*4);
|
|
mapped = (qboolean *)Mem_Alloc(mempool, numvertices*sizeof(qboolean));
|
|
used = (qboolean *)Mem_Alloc(mempool, numtriangles*sizeof(qboolean));
|
|
memset(mapped, 0, numvertices*sizeof(qboolean));
|
|
memset(used, 0, numtriangles*sizeof(qboolean));
|
|
numplanes = numpoints = polyvert = 0;
|
|
// build convex hull
|
|
// todo: merge duplicated verts here
|
|
Con_Printf("Building...\n");
|
|
iv = ed->priv.server->ode_vertex3f;
|
|
for (triangleindex = 0; triangleindex < numtriangles; triangleindex++)
|
|
{
|
|
// already formed a polygon?
|
|
if (used[triangleindex])
|
|
continue;
|
|
// init polygon
|
|
// switch clockwise->counterclockwise
|
|
ie = &model->brush.collisionmesh->element3i[triangleindex*3];
|
|
used[triangleindex] = true;
|
|
TriangleNormal(&iv[ie[0]*3], &iv[ie[1]*3], &iv[ie[2]*3], planes);
|
|
VectorNormalize(planes);
|
|
polygons[0] = 3;
|
|
polygons[3] = (unsigned int)ie[0]; mapped[polygons[3]] = true;
|
|
polygons[2] = (unsigned int)ie[1]; mapped[polygons[2]] = true;
|
|
polygons[1] = (unsigned int)ie[2]; mapped[polygons[1]] = true;
|
|
|
|
// now find and include concave triangles
|
|
for (i = triangleindex; i < numtriangles; i++)
|
|
{
|
|
if (used[i])
|
|
continue;
|
|
// should share at least 2 vertexes
|
|
for (polyvert = 1; polyvert <= polygons[0]; polyvert++)
|
|
{
|
|
// todo: merge in triangles that shares an edge and have same plane here
|
|
}
|
|
}
|
|
|
|
// add polygon to overall stats
|
|
planes[3] = DotProduct(&iv[polygons[1]*3], planes);
|
|
polygons += (polygons[0]+1);
|
|
planes += 4;
|
|
numplanes++;
|
|
}
|
|
Mem_Free(used);
|
|
// save points
|
|
for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
|
|
if (mapped[vertexindex])
|
|
numpoints++;
|
|
pointsData = (dReal *)Mem_Alloc(mempool, numpoints*sizeof(dReal)*3 + numplanes*sizeof(dReal)*4); // planes is appended
|
|
for (vertexindex = 0, numpoints = 0; vertexindex < numvertices; vertexindex++)
|
|
{
|
|
if (mapped[vertexindex])
|
|
{
|
|
VectorCopy(&iv[vertexindex*3], &pointsData[numpoints*3]);
|
|
numpoints++;
|
|
}
|
|
}
|
|
Mem_Free(mapped);
|
|
Con_Printf("Points: \n");
|
|
for (i = 0; i < (int)numpoints; i++)
|
|
Con_Printf("%3i: %3.1f %3.1f %3.1f\n", i, pointsData[i*3], pointsData[i*3+1], pointsData[i*3+2]);
|
|
// save planes
|
|
planes = planesData;
|
|
planesData = pointsData + numpoints*3;
|
|
memcpy(planesData, planes, numplanes*sizeof(dReal)*4);
|
|
Mem_Free(planes);
|
|
Con_Printf("planes...\n");
|
|
for (i = 0; i < numplanes; i++)
|
|
Con_Printf("%3i: %1.1f %1.1f %1.1f %1.1f\n", i, planesData[i*4], planesData[i*4 + 1], planesData[i*4 + 2], planesData[i*4 + 3]);
|
|
// save polygons
|
|
polyvert = polygons - polygonsData;
|
|
polygons = polygonsData;
|
|
polygonsData = (unsigned int *)Mem_Alloc(mempool, polyvert*sizeof(int));
|
|
memcpy(polygonsData, polygons, polyvert*sizeof(int));
|
|
Mem_Free(polygons);
|
|
Con_Printf("Polygons: \n");
|
|
polygons = polygonsData;
|
|
for (i = 0; i < numplanes; i++)
|
|
{
|
|
Con_Printf("%3i : %i ", i, polygons[0]);
|
|
for (triangleindex = 1; triangleindex <= (int)polygons[0]; triangleindex++)
|
|
Con_Printf("%3i ", polygons[triangleindex]);
|
|
polygons += (polygons[0]+1);
|
|
Con_Printf("\n");
|
|
}
|
|
Mem_Free(ed->priv.server->ode_element3i);
|
|
ed->priv.server->ode_element3i = (int *)polygonsData;
|
|
Mem_Free(ed->priv.server->ode_vertex3f);
|
|
ed->priv.server->ode_vertex3f = (float *)pointsData;
|
|
// check for properly build polygons by calculating the determinant of the 3x3 matrix composed of the first 3 points in the polygon
|
|
// this code is picked from ODE Source
|
|
Con_Printf("Check...\n");
|
|
polygons = polygonsData;
|
|
for (i = 0; i < numplanes; i++)
|
|
{
|
|
if((pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+2] +
|
|
pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+0] +
|
|
pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+1] -
|
|
pointsData[(polygons[1]*3)+2]*pointsData[(polygons[2]*3)+1]*pointsData[(polygons[3]*3)+0] -
|
|
pointsData[(polygons[1]*3)+1]*pointsData[(polygons[2]*3)+0]*pointsData[(polygons[3]*3)+2] -
|
|
pointsData[(polygons[1]*3)+0]*pointsData[(polygons[2]*3)+2]*pointsData[(polygons[3]*3)+1]) < 0)
|
|
Con_Printf("WARNING: Polygon %d is not defined counterclockwise\n", i);
|
|
if (planesData[(i*4)+3] < 0)
|
|
Con_Printf("WARNING: Plane %d does not contain the origin\n", i);
|
|
polygons += (*polygons + 1);
|
|
}
|
|
// create geom
|
|
Con_Printf("Create geom...\n");
|
|
ed->priv.server->ode_geom = (void *)dCreateConvex((dSpaceID)world->physics.ode_space, planesData, numplanes, pointsData, numpoints, polygonsData);
|
|
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
|
|
Con_Printf("Done!\n");
|
|
}
|
|
break;
|
|
case GEOMTYPE_BOX:
|
|
treatasbox:
|
|
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
|
|
ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
|
|
dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
|
|
break;
|
|
case GEOMTYPE_SPHERE:
|
|
Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
|
|
ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
|
|
dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
|
|
break;
|
|
case GEOMTYPE_CAPSULE:
|
|
axisindex = 0;
|
|
if (geomsize[axisindex] < geomsize[1])
|
|
axisindex = 1;
|
|
if (geomsize[axisindex] < geomsize[2])
|
|
axisindex = 2;
|
|
// the qc gives us 3 axis radius, the longest axis is the capsule
|
|
// axis, since ODE doesn't like this idea we have to create a
|
|
// capsule which uses the standard orientation, and apply a
|
|
// transform to it
|
|
if (axisindex == 0)
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
|
|
radius = min(geomsize[1], geomsize[2]) * 0.5f;
|
|
}
|
|
else if (axisindex == 1)
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[2]) * 0.5f;
|
|
}
|
|
else
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[1]) * 0.5f;
|
|
}
|
|
length = geomsize[axisindex] - radius*2;
|
|
// because we want to support more than one axisindex, we have to
|
|
// create a transform, and turn on its cleanup setting (which will
|
|
// cause the child to be destroyed when it is destroyed)
|
|
ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
|
|
break;
|
|
case GEOMTYPE_CAPSULE_X:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
|
|
radius = min(geomsize[1], geomsize[2]) * 0.5f;
|
|
length = geomsize[0] - radius*2;
|
|
// check if length is not enough, reduce radius then
|
|
if (length <= 0)
|
|
{
|
|
radius -= (1 - length)*0.5;
|
|
length = 1;
|
|
}
|
|
ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCapsuleTotal(&mass, massval, 1, radius, length);
|
|
break;
|
|
case GEOMTYPE_CAPSULE_Y:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[2]) * 0.5f;
|
|
length = geomsize[1] - radius*2;
|
|
// check if length is not enough, reduce radius then
|
|
if (length <= 0)
|
|
{
|
|
radius -= (1 - length)*0.5;
|
|
length = 1;
|
|
}
|
|
ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCapsuleTotal(&mass, massval, 2, radius, length);
|
|
break;
|
|
case GEOMTYPE_CAPSULE_Z:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
|
|
radius = min(geomsize[1], geomsize[0]) * 0.5f;
|
|
length = geomsize[2] - radius*2;
|
|
// check if length is not enough, reduce radius then
|
|
if (length <= 0)
|
|
{
|
|
radius -= (1 - length)*0.5;
|
|
length = 1;
|
|
}
|
|
ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCapsuleTotal(&mass, massval, 3, radius, length);
|
|
break;
|
|
case GEOMTYPE_CYLINDER:
|
|
axisindex = 0;
|
|
if (geomsize[axisindex] < geomsize[1])
|
|
axisindex = 1;
|
|
if (geomsize[axisindex] < geomsize[2])
|
|
axisindex = 2;
|
|
// the qc gives us 3 axis radius, the longest axis is the capsule
|
|
// axis, since ODE doesn't like this idea we have to create a
|
|
// capsule which uses the standard orientation, and apply a
|
|
// transform to it
|
|
if (axisindex == 0)
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
|
|
radius = min(geomsize[1], geomsize[2]) * 0.5f;
|
|
}
|
|
else if (axisindex == 1)
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[2]) * 0.5f;
|
|
}
|
|
else
|
|
{
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[1]) * 0.5f;
|
|
}
|
|
length = geomsize[axisindex];
|
|
// check if length is not enough, reduce radius then
|
|
if (length <= 0)
|
|
{
|
|
radius -= (1 - length)*0.5;
|
|
length = 1;
|
|
}
|
|
ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCylinderTotal(&mass, massval, axisindex+1, radius, length);
|
|
break;
|
|
case GEOMTYPE_CYLINDER_X:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
|
|
radius = min(geomsize[1], geomsize[2]) * 0.5f;
|
|
length = geomsize[0];
|
|
ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCylinderTotal(&mass, massval, 1, radius, length);
|
|
break;
|
|
case GEOMTYPE_CYLINDER_Y:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[2]) * 0.5f;
|
|
length = geomsize[1];
|
|
ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCylinderTotal(&mass, massval, 2, radius, length);
|
|
break;
|
|
case GEOMTYPE_CYLINDER_Z:
|
|
Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
|
|
radius = min(geomsize[0], geomsize[1]) * 0.5f;
|
|
length = geomsize[2];
|
|
ed->priv.server->ode_geom = (void *)dCreateCylinder((dSpaceID)world->physics.ode_space, radius, length);
|
|
dMassSetCylinderTotal(&mass, massval, 3, radius, length);
|
|
break;
|
|
default:
|
|
Sys_Error("World_Physics_BodyFromEntity: unrecognized geomtype value %i was accepted by filter\n", solid);
|
|
// this goto only exists to prevent warnings from the compiler
|
|
// about uninitialized variables (mass), while allowing it to
|
|
// catch legitimate uninitialized variable warnings
|
|
goto treatasbox;
|
|
}
|
|
ed->priv.server->ode_mass = massval;
|
|
ed->priv.server->ode_modelindex = modelindex;
|
|
VectorCopy(entmins, ed->priv.server->ode_mins);
|
|
VectorCopy(entmaxs, ed->priv.server->ode_maxs);
|
|
VectorCopy(scale, ed->priv.server->ode_scale);
|
|
ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
|
|
Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
|
|
ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
|
|
memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
|
|
}
|
|
|
|
if (ed->priv.server->ode_geom)
|
|
dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
|
|
if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
|
|
{
|
|
// entity is dynamic
|
|
if (ed->priv.server->ode_body == NULL)
|
|
{
|
|
ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
|
|
dBodySetData(body, (void*)ed);
|
|
dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
|
|
modified = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// entity is deactivated
|
|
if (ed->priv.server->ode_body != NULL)
|
|
{
|
|
if(ed->priv.server->ode_geom)
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
|
|
dBodyDestroy((dBodyID) ed->priv.server->ode_body);
|
|
ed->priv.server->ode_body = NULL;
|
|
modified = true;
|
|
}
|
|
}
|
|
|
|
// get current data from entity
|
|
VectorClear(origin);
|
|
VectorClear(velocity);
|
|
//VectorClear(forward);
|
|
//VectorClear(left);
|
|
//VectorClear(up);
|
|
//VectorClear(spinvelocity);
|
|
VectorClear(angles);
|
|
VectorClear(avelocity);
|
|
gravity = true;
|
|
VectorCopy(PRVM_gameedictvector(ed, origin), origin);
|
|
VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
|
|
//VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
|
|
//VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
|
|
//VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
|
|
//VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
|
|
VectorCopy(PRVM_gameedictvector(ed, angles), angles);
|
|
VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
|
|
if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
|
|
if (ed == prog->edicts)
|
|
gravity = false;
|
|
|
|
// compatibility for legacy entities
|
|
//if (!VectorLength2(forward) || solid == SOLID_BSP)
|
|
{
|
|
float pitchsign = 1;
|
|
vec3_t qangles, qavelocity;
|
|
VectorCopy(angles, qangles);
|
|
VectorCopy(avelocity, qavelocity);
|
|
|
|
if(prog == SVVM_prog) // FIXME some better way?
|
|
{
|
|
pitchsign = SV_GetPitchSign(prog, ed);
|
|
}
|
|
else if(prog == CLVM_prog)
|
|
{
|
|
pitchsign = CL_GetPitchSign(prog, ed);
|
|
}
|
|
qangles[PITCH] *= pitchsign;
|
|
qavelocity[PITCH] *= pitchsign;
|
|
|
|
AngleVectorsFLU(qangles, forward, left, up);
|
|
// convert single-axis rotations in avelocity to spinvelocity
|
|
// FIXME: untested math - check signs
|
|
VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
|
|
}
|
|
|
|
// compatibility for legacy entities
|
|
switch (solid)
|
|
{
|
|
case SOLID_BBOX:
|
|
case SOLID_SLIDEBOX:
|
|
case SOLID_CORPSE:
|
|
VectorSet(forward, 1, 0, 0);
|
|
VectorSet(left, 0, 1, 0);
|
|
VectorSet(up, 0, 0, 1);
|
|
VectorSet(spinvelocity, 0, 0, 0);
|
|
break;
|
|
}
|
|
|
|
|
|
// we must prevent NANs...
|
|
if (physics_ode_trick_fixnan.integer)
|
|
{
|
|
test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
|
|
if (VEC_IS_NAN(test))
|
|
{
|
|
modified = true;
|
|
//Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
|
|
if (physics_ode_trick_fixnan.integer >= 2)
|
|
Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(prog, PRVM_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
|
|
test = VectorLength2(origin);
|
|
if (VEC_IS_NAN(test))
|
|
VectorClear(origin);
|
|
test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
|
|
if (VEC_IS_NAN(test))
|
|
{
|
|
VectorSet(angles, 0, 0, 0);
|
|
VectorSet(forward, 1, 0, 0);
|
|
VectorSet(left, 0, 1, 0);
|
|
VectorSet(up, 0, 0, 1);
|
|
}
|
|
test = VectorLength2(velocity);
|
|
if (VEC_IS_NAN(test))
|
|
VectorClear(velocity);
|
|
test = VectorLength2(spinvelocity);
|
|
if (VEC_IS_NAN(test))
|
|
{
|
|
VectorClear(avelocity);
|
|
VectorClear(spinvelocity);
|
|
}
|
|
}
|
|
}
|
|
|
|
// check if the qc edited any position data
|
|
if (!VectorCompare(origin, ed->priv.server->ode_origin)
|
|
|| !VectorCompare(velocity, ed->priv.server->ode_velocity)
|
|
|| !VectorCompare(angles, ed->priv.server->ode_angles)
|
|
|| !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
|
|
|| gravity != ed->priv.server->ode_gravity)
|
|
modified = true;
|
|
|
|
// store the qc values into the physics engine
|
|
body = (dBodyID)ed->priv.server->ode_body;
|
|
if (modified && ed->priv.server->ode_geom)
|
|
{
|
|
dVector3 r[3];
|
|
matrix4x4_t entitymatrix;
|
|
matrix4x4_t bodymatrix;
|
|
|
|
#if 0
|
|
Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
|
|
if(!VectorCompare(origin, ed->priv.server->ode_origin))
|
|
Con_Printf(" origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
|
|
if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
|
|
Con_Printf(" velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
|
|
if(!VectorCompare(angles, ed->priv.server->ode_angles))
|
|
Con_Printf(" angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
|
|
if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
|
|
Con_Printf(" avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
|
|
if(gravity != ed->priv.server->ode_gravity)
|
|
Con_Printf(" gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
|
|
#endif
|
|
// values for BodyFromEntity to check if the qc modified anything later
|
|
VectorCopy(origin, ed->priv.server->ode_origin);
|
|
VectorCopy(velocity, ed->priv.server->ode_velocity);
|
|
VectorCopy(angles, ed->priv.server->ode_angles);
|
|
VectorCopy(avelocity, ed->priv.server->ode_avelocity);
|
|
ed->priv.server->ode_gravity = gravity;
|
|
|
|
Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
|
|
Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
|
|
Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
|
|
r[0][0] = forward[0];
|
|
r[1][0] = forward[1];
|
|
r[2][0] = forward[2];
|
|
r[0][1] = left[0];
|
|
r[1][1] = left[1];
|
|
r[2][1] = left[2];
|
|
r[0][2] = up[0];
|
|
r[1][2] = up[1];
|
|
r[2][2] = up[2];
|
|
if (body)
|
|
{
|
|
if (movetype == MOVETYPE_PHYSICS)
|
|
{
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
|
|
dBodySetPosition(body, origin[0], origin[1], origin[2]);
|
|
dBodySetRotation(body, r[0]);
|
|
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
|
|
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
|
|
dBodySetGravityMode(body, gravity);
|
|
}
|
|
else
|
|
{
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
|
|
dBodySetPosition(body, origin[0], origin[1], origin[2]);
|
|
dBodySetRotation(body, r[0]);
|
|
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
|
|
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
|
|
dBodySetGravityMode(body, gravity);
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// no body... then let's adjust the parameters of the geom directly
|
|
dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
|
|
dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
|
|
dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
|
|
}
|
|
}
|
|
|
|
if (body)
|
|
{
|
|
|
|
// limit movement speed to prevent missed collisions at high speed
|
|
ovelocity = dBodyGetLinearVel(body);
|
|
ospinvelocity = dBodyGetAngularVel(body);
|
|
movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
|
|
test = VectorLength2(ovelocity);
|
|
if (test > movelimit*movelimit)
|
|
{
|
|
// scale down linear velocity to the movelimit
|
|
// scale down angular velocity the same amount for consistency
|
|
f = movelimit / sqrt(test);
|
|
VectorScale(ovelocity, f, velocity);
|
|
VectorScale(ospinvelocity, f, spinvelocity);
|
|
dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
|
|
dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
|
|
}
|
|
|
|
// make sure the angular velocity is not exploding
|
|
spinlimit = physics_ode_spinlimit.value;
|
|
test = VectorLength2(ospinvelocity);
|
|
if (test > spinlimit)
|
|
{
|
|
dBodySetAngularVel(body, 0, 0, 0);
|
|
}
|
|
|
|
// apply functions and clear stack
|
|
for(func = ed->priv.server->ode_func; func; func = nextf)
|
|
{
|
|
nextf = func->next;
|
|
World_Physics_ApplyCmd(ed, func);
|
|
Mem_Free(func);
|
|
}
|
|
ed->priv.server->ode_func = NULL;
|
|
}
|
|
}
|
|
|
|
#define MAX_CONTACTS 32
|
|
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
|
|
{
|
|
world_t *world = (world_t *)data;
|
|
prvm_prog_t *prog = world->prog;
|
|
dContact contact[MAX_CONTACTS]; // max contacts per collision pair
|
|
int b1enabled = 0, b2enabled = 0;
|
|
dBodyID b1, b2;
|
|
dJointID c;
|
|
int i;
|
|
int numcontacts;
|
|
float bouncefactor1 = 0.0f;
|
|
float bouncestop1 = 60.0f / 800.0f;
|
|
float bouncefactor2 = 0.0f;
|
|
float bouncestop2 = 60.0f / 800.0f;
|
|
float erp;
|
|
dVector3 grav;
|
|
prvm_edict_t *ed1, *ed2;
|
|
|
|
if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
|
|
{
|
|
// colliding a space with something
|
|
dSpaceCollide2(o1, o2, data, &nearCallback);
|
|
// Note we do not want to test intersections within a space,
|
|
// only between spaces.
|
|
//if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
|
|
//if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
|
|
return;
|
|
}
|
|
|
|
b1 = dGeomGetBody(o1);
|
|
if (b1)
|
|
b1enabled = dBodyIsEnabled(b1);
|
|
b2 = dGeomGetBody(o2);
|
|
if (b2)
|
|
b2enabled = dBodyIsEnabled(b2);
|
|
|
|
// at least one object has to be using MOVETYPE_PHYSICS and should be enabled or we just don't care
|
|
if (!b1enabled && !b2enabled)
|
|
return;
|
|
|
|
// exit without doing anything if the two bodies are connected by a joint
|
|
if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
|
|
return;
|
|
|
|
ed1 = (prvm_edict_t *) dGeomGetData(o1);
|
|
if(ed1 && ed1->priv.server->free)
|
|
ed1 = NULL;
|
|
if(ed1)
|
|
{
|
|
bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
|
|
bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
|
|
if (!bouncestop1)
|
|
bouncestop1 = 60.0f / 800.0f;
|
|
}
|
|
|
|
ed2 = (prvm_edict_t *) dGeomGetData(o2);
|
|
if(ed2 && ed2->priv.server->free)
|
|
ed2 = NULL;
|
|
if(ed2)
|
|
{
|
|
bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
|
|
bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
|
|
if (!bouncestop2)
|
|
bouncestop2 = 60.0f / 800.0f;
|
|
}
|
|
|
|
if(prog == SVVM_prog)
|
|
{
|
|
if(ed1 && PRVM_serveredictfunction(ed1, touch))
|
|
{
|
|
SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
|
|
}
|
|
if(ed2 && PRVM_serveredictfunction(ed2, touch))
|
|
{
|
|
SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
|
|
}
|
|
}
|
|
|
|
// merge bounce factors and bounce stop
|
|
if(bouncefactor2 > 0)
|
|
{
|
|
if(bouncefactor1 > 0)
|
|
{
|
|
// TODO possibly better logic to merge bounce factor data?
|
|
if(bouncestop2 < bouncestop1)
|
|
bouncestop1 = bouncestop2;
|
|
if(bouncefactor2 > bouncefactor1)
|
|
bouncefactor1 = bouncefactor2;
|
|
}
|
|
else
|
|
{
|
|
bouncestop1 = bouncestop2;
|
|
bouncefactor1 = bouncefactor2;
|
|
}
|
|
}
|
|
dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
|
|
bouncestop1 *= fabs(grav[2]);
|
|
|
|
// get erp
|
|
// select object that moves faster ang get it's erp
|
|
erp = (VectorLength2(PRVM_gameedictvector(ed1, velocity)) > VectorLength2(PRVM_gameedictvector(ed2, velocity))) ? PRVM_gameedictfloat(ed1, erp) : PRVM_gameedictfloat(ed2, erp);
|
|
|
|
// get max contact points for this collision
|
|
numcontacts = (int)PRVM_gameedictfloat(ed1, maxcontacts);
|
|
if (!numcontacts)
|
|
numcontacts = physics_ode_contact_maxpoints.integer;
|
|
if (PRVM_gameedictfloat(ed2, maxcontacts))
|
|
numcontacts = max(numcontacts, (int)PRVM_gameedictfloat(ed2, maxcontacts));
|
|
else
|
|
numcontacts = max(numcontacts, physics_ode_contact_maxpoints.integer);
|
|
|
|
// generate contact points between the two non-space geoms
|
|
numcontacts = dCollide(o1, o2, min(MAX_CONTACTS, numcontacts), &(contact[0].geom), sizeof(contact[0]));
|
|
// add these contact points to the simulation
|
|
for (i = 0;i < numcontacts;i++)
|
|
{
|
|
contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0);
|
|
contact[i].surface.mu = physics_ode_contact_mu.value * ed1->priv.server->ode_friction * ed2->priv.server->ode_friction;
|
|
contact[i].surface.soft_erp = physics_ode_contact_erp.value + erp;
|
|
contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
|
|
contact[i].surface.bounce = bouncefactor1;
|
|
contact[i].surface.bounce_vel = bouncestop1;
|
|
c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
|
|
dJointAttach(c, b1, b2);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void World_Physics_Frame(world_t *world, double frametime, double gravity)
|
|
{
|
|
#ifdef USEODE
|
|
prvm_prog_t *prog = world->prog;
|
|
double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;
|
|
|
|
tdelta = Sys_DirtyTime();
|
|
if (world->physics.ode && physics_ode.integer)
|
|
{
|
|
int i;
|
|
prvm_edict_t *ed;
|
|
|
|
if (!physics_ode_constantstep.value)
|
|
{
|
|
world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
|
|
world->physics.ode_step = frametime / world->physics.ode_iterations;
|
|
}
|
|
else
|
|
{
|
|
world->physics.ode_time += frametime;
|
|
// step size
|
|
if (physics_ode_constantstep.value > 0 && physics_ode_constantstep.value < 1)
|
|
world->physics.ode_step = physics_ode_constantstep.value;
|
|
else
|
|
world->physics.ode_step = sys_ticrate.value;
|
|
if (world->physics.ode_time > 0.2f)
|
|
world->physics.ode_time = world->physics.ode_step;
|
|
// set number of iterations to process
|
|
world->physics.ode_iterations = 0;
|
|
while(world->physics.ode_time >= world->physics.ode_step)
|
|
{
|
|
world->physics.ode_iterations++;
|
|
world->physics.ode_time -= world->physics.ode_step;
|
|
}
|
|
}
|
|
world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
|
|
World_Physics_UpdateODE(world);
|
|
|
|
// copy physics properties from entities to physics engine
|
|
if (prog)
|
|
{
|
|
for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
|
|
if (!prog->edicts[i].priv.required->free)
|
|
World_Physics_Frame_BodyFromEntity(world, ed);
|
|
// oh, and it must be called after all bodies were created
|
|
for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
|
|
if (!prog->edicts[i].priv.required->free)
|
|
World_Physics_Frame_JointFromEntity(world, ed);
|
|
}
|
|
|
|
tdelta2 = Sys_DirtyTime();
|
|
collisiontime = 0;
|
|
for (i = 0;i < world->physics.ode_iterations;i++)
|
|
{
|
|
// set the gravity
|
|
dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity * physics_ode_world_gravitymod.value);
|
|
// set the tolerance for closeness of objects
|
|
dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
|
|
// run collisions for the current world state, creating JointGroup
|
|
tdelta3 = Sys_DirtyTime();
|
|
dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
|
|
collisiontime += (Sys_DirtyTime() - tdelta3)*10000;
|
|
// apply forces
|
|
if (prog)
|
|
{
|
|
int j;
|
|
for (j = 0, ed = prog->edicts + j;j < prog->num_edicts;j++, ed++)
|
|
if (!prog->edicts[j].priv.required->free)
|
|
World_Physics_Frame_ForceFromEntity(world, ed);
|
|
}
|
|
// run physics (move objects, calculate new velocities)
|
|
// be sure not to pass 0 as step time because that causes an ODE error
|
|
dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
|
|
if (world->physics.ode_step > 0)
|
|
dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
|
|
// clear the JointGroup now that we're done with it
|
|
dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
|
|
}
|
|
simulationtime = (Sys_DirtyTime() - tdelta2)*10000;
|
|
|
|
// copy physics properties from physics engine to entities and do some stats
|
|
if (prog)
|
|
{
|
|
for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
|
|
if (!prog->edicts[i].priv.required->free)
|
|
World_Physics_Frame_BodyToEntity(world, ed);
|
|
|
|
// print stats
|
|
if (physics_ode_printstats.integer)
|
|
{
|
|
dBodyID body;
|
|
|
|
world->physics.ode_numobjects = 0;
|
|
world->physics.ode_activeovjects = 0;
|
|
for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
|
|
{
|
|
if (prog->edicts[i].priv.required->free)
|
|
continue;
|
|
body = (dBodyID)prog->edicts[i].priv.server->ode_body;
|
|
if (!body)
|
|
continue;
|
|
world->physics.ode_numobjects++;
|
|
if (dBodyIsEnabled(body))
|
|
world->physics.ode_activeovjects++;
|
|
}
|
|
Con_Printf("ODE Stats(%s): %i iterations, %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, world->physics.ode_iterations, simulationtime, collisiontime, (Sys_DirtyTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
}
|