*/
+static void World_Physics_Init(void);
void World_Init(void)
{
Collision_Init();
+ World_Physics_Init();
+}
+
+static void World_Physics_Shutdown(void);
+void World_Shutdown(void)
+{
+ World_Physics_Shutdown();
+}
+
+static void World_Physics_Start(world_t *world);
+void World_Start(world_t *world)
+{
+ World_Physics_Start(world);
+}
+
+static void World_Physics_End(world_t *world);
+void World_End(world_t *world)
+{
+ World_Physics_End(world);
}
//============================================================================
VectorCopy(maxs, ent->priv.server->areamaxs);
World_LinkEdict_AreaGrid(world, ent);
}
+
+
+
+
+//============================================================================
+// physics engine support
+//============================================================================
+
+cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
+cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
+cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
+cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
+cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
+cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
+cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
+cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
+cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
+cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
+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"};
+cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
+
+// LordHavoc: this large chunk of definitions comes from the ODE library
+// include files.
+
+//#ifndef ODE_STATIC
+//#define ODE_DYNAMIC 1
+//#endif
+
+#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
+#define USEODE 1
+#endif
+
+#ifdef USEODE
+#ifdef ODE_STATIC
+#include "ode/ode.h"
+#else
+#ifdef WINAPI
+#define ODE_API WINAPI
+#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;
+
+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;
+
+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))
+
+ODE_API const char* (*dGetConfiguration)(void);
+ODE_API int (*dCheckConfiguration)( const char* token );
+ODE_API int (*dInitODE2)(unsigned int uiInitFlags);
+ODE_API int (*dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
+ODE_API void (*dCleanupODEAllDataForThread)(void);
+ODE_API void (*dCloseODE)(void);
+
+//ODE_API int (*dMassCheck)(const dMass *m);
+//ODE_API void (*dMassSetZero)(dMass *);
+//ODE_API void (*dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
+//ODE_API void (*dMassSetSphere)(dMass *, dReal density, dReal radius);
+ODE_API void (*dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
+//ODE_API void (*dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
+ODE_API void (*dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//ODE_API void (*dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
+//ODE_API void (*dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
+//ODE_API void (*dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
+ODE_API void (*dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
+//ODE_API void (*dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
+//ODE_API void (*dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
+//ODE_API void (*dMassAdjust)(dMass *, dReal newmass);
+//ODE_API void (*dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
+//ODE_API void (*dMassRotate)(dMass *, const dMatrix3 R);
+//ODE_API void (*dMassAdd)(dMass *a, const dMass *b);
+//
+ODE_API dWorldID (*dWorldCreate)(void);
+ODE_API void (*dWorldDestroy)(dWorldID world);
+ODE_API void (*dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
+//ODE_API void (*dWorldGetGravity)(dWorldID, dVector3 gravity);
+//ODE_API void (*dWorldSetERP)(dWorldID, dReal erp);
+//ODE_API dReal (*dWorldGetERP)(dWorldID);
+//ODE_API void (*dWorldSetCFM)(dWorldID, dReal cfm);
+//ODE_API dReal (*dWorldGetCFM)(dWorldID);
+ODE_API void (*dWorldStep)(dWorldID, dReal stepsize);
+//ODE_API void (*dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
+ODE_API void (*dWorldQuickStep)(dWorldID w, dReal stepsize);
+ODE_API void (*dWorldSetQuickStepNumIterations)(dWorldID, int num);
+//ODE_API int (*dWorldGetQuickStepNumIterations)(dWorldID);
+//ODE_API void (*dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
+//ODE_API dReal (*dWorldGetQuickStepW)(dWorldID);
+//ODE_API void (*dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
+//ODE_API dReal (*dWorldGetContactMaxCorrectingVel)(dWorldID);
+ODE_API void (*dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
+//ODE_API dReal (*dWorldGetContactSurfaceLayer)(dWorldID);
+ODE_API void (*dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
+//ODE_API void (*dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
+//ODE_API int (*dWorldGetAutoEnableDepthSF1)(dWorldID);
+//ODE_API dReal (*dWorldGetAutoDisableLinearThreshold)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
+//ODE_API dReal (*dWorldGetAutoDisableAngularThreshold)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
+//ODE_API dReal (*dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
+//ODE_API dReal (*dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
+//ODE_API int (*dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
+//ODE_API int (*dWorldGetAutoDisableSteps)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableSteps)(dWorldID, int steps);
+//ODE_API dReal (*dWorldGetAutoDisableTime)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableTime)(dWorldID, dReal time);
+//ODE_API int (*dWorldGetAutoDisableFlag)(dWorldID);
+//ODE_API void (*dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
+//ODE_API dReal (*dWorldGetLinearDampingThreshold)(dWorldID w);
+//ODE_API void (*dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
+//ODE_API dReal (*dWorldGetAngularDampingThreshold)(dWorldID w);
+//ODE_API void (*dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
+//ODE_API dReal (*dWorldGetLinearDamping)(dWorldID w);
+//ODE_API void (*dWorldSetLinearDamping)(dWorldID w, dReal scale);
+//ODE_API dReal (*dWorldGetAngularDamping)(dWorldID w);
+//ODE_API void (*dWorldSetAngularDamping)(dWorldID w, dReal scale);
+//ODE_API void (*dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
+//ODE_API dReal (*dWorldGetMaxAngularSpeed)(dWorldID w);
+//ODE_API void (*dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
+//ODE_API dReal (*dBodyGetAutoDisableLinearThreshold)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
+//ODE_API dReal (*dBodyGetAutoDisableAngularThreshold)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
+//ODE_API int (*dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
+//ODE_API int (*dBodyGetAutoDisableSteps)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableSteps)(dBodyID, int steps);
+//ODE_API dReal (*dBodyGetAutoDisableTime)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableTime)(dBodyID, dReal time);
+//ODE_API int (*dBodyGetAutoDisableFlag)(dBodyID);
+//ODE_API void (*dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
+//ODE_API void (*dBodySetAutoDisableDefaults)(dBodyID);
+//ODE_API dWorldID (*dBodyGetWorld)(dBodyID);
+ODE_API dBodyID (*dBodyCreate)(dWorldID);
+ODE_API void (*dBodyDestroy)(dBodyID);
+ODE_API void (*dBodySetData)(dBodyID, void *data);
+//ODE_API void * (*dBodyGetData)(dBodyID);
+ODE_API void (*dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API void (*dBodySetRotation)(dBodyID, const dMatrix3 R);
+//ODE_API void (*dBodySetQuaternion)(dBodyID, const dQuaternion q);
+ODE_API void (*dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API void (*dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
+ODE_API const dReal * (*dBodyGetPosition)(dBodyID);
+//ODE_API void (*dBodyCopyPosition)(dBodyID body, dVector3 pos);
+ODE_API const dReal * (*dBodyGetRotation)(dBodyID);
+//ODE_API void (*dBodyCopyRotation)(dBodyID, dMatrix3 R);
+//ODE_API const dReal * (*dBodyGetQuaternion)(dBodyID);
+//ODE_API void (*dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
+ODE_API const dReal * (*dBodyGetLinearVel)(dBodyID);
+ODE_API const dReal * (*dBodyGetAngularVel)(dBodyID);
+ODE_API void (*dBodySetMass)(dBodyID, const dMass *mass);
+//ODE_API void (*dBodyGetMass)(dBodyID, dMass *mass);
+//ODE_API void (*dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void (*dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void (*dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void (*dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
+//ODE_API void (*dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void (*dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void (*dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API void (*dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
+//ODE_API const dReal * (*dBodyGetForce)(dBodyID);
+//ODE_API const dReal * (*dBodyGetTorque)(dBodyID);
+//ODE_API void (*dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
+//ODE_API void (*dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
+//ODE_API void (*dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
+//ODE_API void (*dBodySetFiniteRotationMode)(dBodyID, int mode);
+//ODE_API void (*dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
+//ODE_API int (*dBodyGetFiniteRotationMode)(dBodyID);
+//ODE_API void (*dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
+//ODE_API int (*dBodyGetNumJoints)(dBodyID b);
+//ODE_API dJointID (*dBodyGetJoint)(dBodyID, int index);
+//ODE_API void (*dBodySetDynamic)(dBodyID);
+//ODE_API void (*dBodySetKinematic)(dBodyID);
+//ODE_API int (*dBodyIsKinematic)(dBodyID);
+//ODE_API void (*dBodyEnable)(dBodyID);
+//ODE_API void (*dBodyDisable)(dBodyID);
+//ODE_API int (*dBodyIsEnabled)(dBodyID);
+//ODE_API void (*dBodySetGravityMode)(dBodyID b, int mode);
+//ODE_API int (*dBodyGetGravityMode)(dBodyID b);
+//ODE_API void (*dBodySetMovedCallback)(dBodyID b, void(*callback)(dBodyID));
+//ODE_API dGeomID (*dBodyGetFirstGeom)(dBodyID b);
+//ODE_API dGeomID (*dBodyGetNextGeom)(dGeomID g);
+//ODE_API void (*dBodySetDampingDefaults)(dBodyID b);
+//ODE_API dReal (*dBodyGetLinearDamping)(dBodyID b);
+//ODE_API void (*dBodySetLinearDamping)(dBodyID b, dReal scale);
+//ODE_API dReal (*dBodyGetAngularDamping)(dBodyID b);
+//ODE_API void (*dBodySetAngularDamping)(dBodyID b, dReal scale);
+//ODE_API void (*dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
+//ODE_API dReal (*dBodyGetLinearDampingThreshold)(dBodyID b);
+//ODE_API void (*dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
+//ODE_API dReal (*dBodyGetAngularDampingThreshold)(dBodyID b);
+//ODE_API void (*dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
+//ODE_API dReal (*dBodyGetMaxAngularSpeed)(dBodyID b);
+//ODE_API void (*dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
+//ODE_API int (*dBodyGetGyroscopicMode)(dBodyID b);
+//ODE_API void (*dBodySetGyroscopicMode)(dBodyID b, int enabled);
+//ODE_API dJointID (*dJointCreateBall)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateHinge)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateSlider)(dWorldID, dJointGroupID);
+ODE_API dJointID (*dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
+//ODE_API dJointID (*dJointCreateHinge2)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateUniversal)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreatePR)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreatePU)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreatePiston)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateFixed)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateNull)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateAMotor)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreateLMotor)(dWorldID, dJointGroupID);
+//ODE_API dJointID (*dJointCreatePlane2D)(dWorldID, dJointGroupID);
+//ODE_API void (*dJointDestroy)(dJointID);
+ODE_API dJointGroupID (*dJointGroupCreate)(int max_size);
+ODE_API void (*dJointGroupDestroy)(dJointGroupID);
+ODE_API void (*dJointGroupEmpty)(dJointGroupID);
+//ODE_API int (*dJointGetNumBodies)(dJointID);
+ODE_API void (*dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
+//ODE_API void (*dJointEnable)(dJointID);
+//ODE_API void (*dJointDisable)(dJointID);
+//ODE_API int (*dJointIsEnabled)(dJointID);
+//ODE_API void (*dJointSetData)(dJointID, void *data);
+//ODE_API void * (*dJointGetData)(dJointID);
+//ODE_API dJointType (*dJointGetType)(dJointID);
+//ODE_API dBodyID (*dJointGetBody)(dJointID, int index);
+//ODE_API void (*dJointSetFeedback)(dJointID, dJointFeedback *);
+//ODE_API dJointFeedback *(*dJointGetFeedback)(dJointID);
+//ODE_API void (*dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetBallParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//ODE_API void (*dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
+//ODE_API void (*dJointSetHingeParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddHingeTorque)(dJointID joint, dReal torque);
+//ODE_API void (*dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+//ODE_API void (*dJointSetSliderParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddSliderForce)(dJointID joint, dReal force);
+//ODE_API void (*dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetHinge2Param)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
+//ODE_API void (*dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//ODE_API void (*dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
+//ODE_API void (*dJointSetUniversalParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
+//ODE_API void (*dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPRParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddPRTorque)(dJointID j, dReal torque);
+//ODE_API void (*dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//ODE_API void (*dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPUParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddPUTorque)(dJointID j, dReal torque);
+//ODE_API void (*dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
+//ODE_API void (*dJointSetPistonParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointAddPistonForce)(dJointID joint, dReal force);
+//ODE_API void (*dJointSetFixed)(dJointID);
+//ODE_API void (*dJointSetFixedParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetAMotorNumAxes)(dJointID, int num);
+//ODE_API void (*dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
+//ODE_API void (*dJointSetAMotorParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetAMotorMode)(dJointID, int mode);
+//ODE_API void (*dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
+//ODE_API void (*dJointSetLMotorNumAxes)(dJointID, int num);
+//ODE_API void (*dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+//ODE_API void (*dJointSetLMotorParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
+//ODE_API void (*dJointGetBallAnchor)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetBallAnchor2)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetBallParam)(dJointID, int parameter);
+//ODE_API void (*dJointGetHingeAnchor)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetHingeAnchor2)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetHingeAxis)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetHingeParam)(dJointID, int parameter);
+//ODE_API dReal (*dJointGetHingeAngle)(dJointID);
+//ODE_API dReal (*dJointGetHingeAngleRate)(dJointID);
+//ODE_API dReal (*dJointGetSliderPosition)(dJointID);
+//ODE_API dReal (*dJointGetSliderPositionRate)(dJointID);
+//ODE_API void (*dJointGetSliderAxis)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetSliderParam)(dJointID, int parameter);
+//ODE_API void (*dJointGetHinge2Anchor)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetHinge2Anchor2)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetHinge2Axis1)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetHinge2Axis2)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetHinge2Param)(dJointID, int parameter);
+//ODE_API dReal (*dJointGetHinge2Angle1)(dJointID);
+//ODE_API dReal (*dJointGetHinge2Angle1Rate)(dJointID);
+//ODE_API dReal (*dJointGetHinge2Angle2Rate)(dJointID);
+//ODE_API void (*dJointGetUniversalAnchor)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetUniversalAnchor2)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetUniversalAxis1)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetUniversalAxis2)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetUniversalParam)(dJointID, int parameter);
+//ODE_API void (*dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
+//ODE_API dReal (*dJointGetUniversalAngle1)(dJointID);
+//ODE_API dReal (*dJointGetUniversalAngle2)(dJointID);
+//ODE_API dReal (*dJointGetUniversalAngle1Rate)(dJointID);
+//ODE_API dReal (*dJointGetUniversalAngle2Rate)(dJointID);
+//ODE_API void (*dJointGetPRAnchor)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetPRPosition)(dJointID);
+//ODE_API dReal (*dJointGetPRPositionRate)(dJointID);
+//ODE_API dReal (*dJointGetPRAngle)(dJointID);
+//ODE_API dReal (*dJointGetPRAngleRate)(dJointID);
+//ODE_API void (*dJointGetPRAxis1)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPRAxis2)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetPRParam)(dJointID, int parameter);
+//ODE_API void (*dJointGetPUAnchor)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetPUPosition)(dJointID);
+//ODE_API dReal (*dJointGetPUPositionRate)(dJointID);
+//ODE_API void (*dJointGetPUAxis1)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPUAxis2)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPUAxis3)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPUAxisP)(dJointID id, dVector3 result);
+//ODE_API void (*dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
+//ODE_API dReal (*dJointGetPUAngle1)(dJointID);
+//ODE_API dReal (*dJointGetPUAngle1Rate)(dJointID);
+//ODE_API dReal (*dJointGetPUAngle2)(dJointID);
+//ODE_API dReal (*dJointGetPUAngle2Rate)(dJointID);
+//ODE_API dReal (*dJointGetPUParam)(dJointID, int parameter);
+//ODE_API dReal (*dJointGetPistonPosition)(dJointID);
+//ODE_API dReal (*dJointGetPistonPositionRate)(dJointID);
+//ODE_API dReal (*dJointGetPistonAngle)(dJointID);
+//ODE_API dReal (*dJointGetPistonAngleRate)(dJointID);
+//ODE_API void (*dJointGetPistonAnchor)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPistonAnchor2)(dJointID, dVector3 result);
+//ODE_API void (*dJointGetPistonAxis)(dJointID, dVector3 result);
+//ODE_API dReal (*dJointGetPistonParam)(dJointID, int parameter);
+//ODE_API int (*dJointGetAMotorNumAxes)(dJointID);
+//ODE_API void (*dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
+//ODE_API int (*dJointGetAMotorAxisRel)(dJointID, int anum);
+//ODE_API dReal (*dJointGetAMotorAngle)(dJointID, int anum);
+//ODE_API dReal (*dJointGetAMotorAngleRate)(dJointID, int anum);
+//ODE_API dReal (*dJointGetAMotorParam)(dJointID, int parameter);
+//ODE_API int (*dJointGetAMotorMode)(dJointID);
+//ODE_API int (*dJointGetLMotorNumAxes)(dJointID);
+//ODE_API void (*dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
+//ODE_API dReal (*dJointGetLMotorParam)(dJointID, int parameter);
+//ODE_API dReal (*dJointGetFixedParam)(dJointID, int parameter);
+//ODE_API dJointID (*dConnectingJoint)(dBodyID, dBodyID);
+//ODE_API int (*dConnectingJointList)(dBodyID, dBodyID, dJointID*);
+ODE_API int (*dAreConnected)(dBodyID, dBodyID);
+ODE_API int (*dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
+//
+ODE_API dSpaceID (*dSimpleSpaceCreate)(dSpaceID space);
+ODE_API dSpaceID (*dHashSpaceCreate)(dSpaceID space);
+ODE_API dSpaceID (*dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
+ODE_API dSpaceID (*dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
+ODE_API void (*dSpaceDestroy)(dSpaceID);
+//ODE_API void (*dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
+//ODE_API void (*dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
+//ODE_API void (*dSpaceSetCleanup)(dSpaceID space, int mode);
+//ODE_API int (*dSpaceGetCleanup)(dSpaceID space);
+//ODE_API void (*dSpaceSetSublevel)(dSpaceID space, int sublevel);
+//ODE_API int (*dSpaceGetSublevel)(dSpaceID space);
+//ODE_API void (*dSpaceSetManualCleanup)(dSpaceID space, int mode);
+//ODE_API int (*dSpaceGetManualCleanup)(dSpaceID space);
+//ODE_API void (*dSpaceAdd)(dSpaceID, dGeomID);
+//ODE_API void (*dSpaceRemove)(dSpaceID, dGeomID);
+//ODE_API int (*dSpaceQuery)(dSpaceID, dGeomID);
+//ODE_API void (*dSpaceClean)(dSpaceID);
+//ODE_API int (*dSpaceGetNumGeoms)(dSpaceID);
+//ODE_API dGeomID (*dSpaceGetGeom)(dSpaceID, int i);
+//ODE_API int (*dSpaceGetClass)(dSpaceID space);
+//
+ODE_API void (*dGeomDestroy)(dGeomID geom);
+//ODE_API void (*dGeomSetData)(dGeomID geom, void* data);
+//ODE_API void * (*dGeomGetData)(dGeomID geom);
+ODE_API void (*dGeomSetBody)(dGeomID geom, dBodyID body);
+ODE_API dBodyID (*dGeomGetBody)(dGeomID geom);
+//ODE_API void (*dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+ODE_API void (*dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void (*dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
+//ODE_API const dReal * (*dGeomGetPosition)(dGeomID geom);
+//ODE_API void (*dGeomCopyPosition)(dGeomID geom, dVector3 pos);
+//ODE_API const dReal * (*dGeomGetRotation)(dGeomID geom);
+//ODE_API void (*dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
+//ODE_API void (*dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
+//ODE_API void (*dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
+ODE_API int (*dGeomIsSpace)(dGeomID geom);
+//ODE_API dSpaceID (*dGeomGetSpace)(dGeomID);
+//ODE_API int (*dGeomGetClass)(dGeomID geom);
+//ODE_API void (*dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
+//ODE_API void (*dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
+//ODE_API unsigned long (*dGeomGetCategoryBits)(dGeomID);
+//ODE_API unsigned long (*dGeomGetCollideBits)(dGeomID);
+//ODE_API void (*dGeomEnable)(dGeomID geom);
+//ODE_API void (*dGeomDisable)(dGeomID geom);
+//ODE_API int (*dGeomIsEnabled)(dGeomID geom);
+//ODE_API void (*dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//ODE_API void (*dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void (*dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
+//ODE_API void (*dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
+//ODE_API void (*dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
+//ODE_API void (*dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
+//ODE_API void (*dGeomClearOffset)(dGeomID geom);
+//ODE_API int (*dGeomIsOffset)(dGeomID geom);
+//ODE_API const dReal * (*dGeomGetOffsetPosition)(dGeomID geom);
+//ODE_API void (*dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
+//ODE_API const dReal * (*dGeomGetOffsetRotation)(dGeomID geom);
+//ODE_API void (*dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
+//ODE_API void (*dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
+ODE_API int (*dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
+//
+ODE_API void (*dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
+ODE_API void (*dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+//
+ODE_API dGeomID (*dCreateSphere)(dSpaceID space, dReal radius);
+//ODE_API void (*dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
+//ODE_API dReal (*dGeomSphereGetRadius)(dGeomID sphere);
+//ODE_API dReal (*dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID (*dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//ODE_API void (*dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
+//
+ODE_API dGeomID (*dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
+//ODE_API void (*dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
+//ODE_API void (*dGeomBoxGetLengths)(dGeomID box, dVector3 result);
+//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//ODE_API dReal (*dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID (*dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+//ODE_API void (*dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+//ODE_API void (*dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
+//ODE_API dReal (*dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
+//
+ODE_API dGeomID (*dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
+//ODE_API void (*dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
+//ODE_API void (*dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
+//ODE_API dReal (*dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
+//
+//ODE_API dGeomID (*dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
+//ODE_API void (*dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
+//ODE_API void (*dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
+//
+//ODE_API dGeomID (*dCreateRay)(dSpaceID space, dReal length);
+//ODE_API void (*dGeomRaySetLength)(dGeomID ray, dReal length);
+//ODE_API dReal (*dGeomRayGetLength)(dGeomID ray);
+//ODE_API void (*dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+//ODE_API void (*dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
+//
+ODE_API dGeomID (*dCreateGeomTransform)(dSpaceID space);
+ODE_API void (*dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
+//ODE_API dGeomID (*dGeomTransformGetGeom)(dGeomID g);
+ODE_API void (*dGeomTransformSetCleanup)(dGeomID g, int mode);
+//ODE_API int (*dGeomTransformGetCleanup)(dGeomID g);
+//ODE_API void (*dGeomTransformSetInfo)(dGeomID g, int mode);
+//ODE_API int (*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);
+
+ODE_API dTriMeshDataID (*dGeomTriMeshDataCreate)(void);
+ODE_API void (*dGeomTriMeshDataDestroy)(dTriMeshDataID g);
+//ODE_API void (*dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
+//ODE_API void* (*dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
+//ODE_API void (*dGeomTriMeshSetLastTransform)( (*dGeomID g, dMatrix4 last_trans );
+//ODE_API dReal* (*dGeomTriMeshGetLastTransform)( (*dGeomID g );
+ODE_API void (*dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//ODE_API void (*dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//ODE_API void (*dGeomTriMeshDataBuildDouble)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride);
+//ODE_API void (*dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount, const void* Indices, int IndexCount, int TriStride, const void* Normals);
+//ODE_API void (*dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
+//ODE_API void (*dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
+//ODE_API void (*dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
+//ODE_API void (*dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+//ODE_API void (*dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
+//ODE_API void (*dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
+//ODE_API dTriCallback* (*dGeomTriMeshGetCallback)(dGeomID g);
+//ODE_API void (*dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
+//ODE_API dTriArrayCallback* (*dGeomTriMeshGetArrayCallback)(dGeomID g);
+//ODE_API void (*dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
+//ODE_API dTriRayCallback* (*dGeomTriMeshGetRayCallback)(dGeomID g);
+//ODE_API void (*dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
+//ODE_API dTriTriMergeCallback* (*dGeomTriMeshGetTriMergeCallback)(dGeomID g);
+ODE_API dGeomID (*dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+//ODE_API void (*dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
+//ODE_API dTriMeshDataID (*dGeomTriMeshGetData)(dGeomID g);
+//ODE_API void (*dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
+//ODE_API int (*dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
+//ODE_API void (*dGeomTriMeshClearTCCache)(dGeomID g);
+//ODE_API dTriMeshDataID (*dGeomTriMeshGetTriMeshDataID)(dGeomID g);
+//ODE_API void (*dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+//ODE_API void (*dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+//ODE_API int (*dGeomTriMeshGetTriangleCount )(dGeomID g);
+//ODE_API void (*dGeomTriMeshDataUpdate)(dTriMeshDataID g);
+
+static dllfunction_t odefuncs[] =
+{
+ {"dGetConfiguration", (void **) &dGetConfiguration},
+ {"dCheckConfiguration", (void **) &dCheckConfiguration},
+ {"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 ODE_STATIC
+ const char* dllnames [] =
+ {
+# if defined(WIN64)
+ "libode1_64.dll",
+# elif defined(WIN32)
+ "libode1.dll",
+# elif defined(MACOSX)
+ "libode.1.dylib",
+# else
+ "libode.so.1",
+# endif
+ NULL
+ };
+#endif
+
+ Cvar_RegisterVariable(&physics_ode_quadtree_depth);
+ Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
+ Cvar_RegisterVariable(&physics_ode_worldquickstep);
+ Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
+ Cvar_RegisterVariable(&physics_ode_worldstepfast);
+ Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
+ Cvar_RegisterVariable(&physics_ode_contact_mu);
+ Cvar_RegisterVariable(&physics_ode_contact_erp);
+ Cvar_RegisterVariable(&physics_ode_contact_cfm);
+ Cvar_RegisterVariable(&physics_ode_iterationsperframe);
+ Cvar_RegisterVariable(&physics_ode_movelimit);
+ Cvar_RegisterVariable(&physics_ode_spinlimit);
+
+#ifndef ODE_STATIC
+ // Load the DLL
+ if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
+#endif
+ {
+ dInitODE2(0);
+#ifndef ODE_STATIC
+# 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;
+ }
+#endif
+ }
+#endif
+}
+
+static void World_Physics_Shutdown(void)
+{
+#ifdef USEODE
+#ifndef ODE_STATIC
+ if (ode_dll)
+#endif
+ {
+ dCloseODE();
+#ifndef ODE_STATIC
+ Sys_UnloadLibrary(ode_dll);
+ ode_dll = NULL;
+#endif
+ }
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_EnableODE(world_t *world)
+{
+ dVector3 center, extents;
+ if (world->physics.ode)
+ return;
+#ifndef ODE_STATIC
+ 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);
+ // we don't currently set dWorldSetCFM or dWorldSetERP because the defaults seem fine
+}
+#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(world->physics.ode_world);
+ dSpaceDestroy(world->physics.ode_space);
+ dJointGroupDestroy(world->physics.ode_contactgroup);
+ world->physics.ode = false;
+ }
+#endif
+}
+
+void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
+{
+#ifdef USEODE
+ // entity is not physics controlled, free any physics data
+ ed->priv.server->ode_physics = false;
+ 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)
+ dBodyDestroy((dBodyID)ed->priv.server->ode_body);
+ ed->priv.server->ode_body = NULL;
+ 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;
+#endif
+}
+
+#ifdef USEODE
+static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
+{
+ 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;
+ prvm_eval_t *val;
+ vec3_t forward, left, up;
+ vec3_t origin;
+ vec3_t spinvelocity;
+ vec3_t velocity;
+ if (!body)
+ return;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+ movetype = (int)val->_float;
+ if (movetype != MOVETYPE_PHYSICS)
+ 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);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) AnglesFromVectors(val->vector, forward, up, true);
+}
+
+static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
+{
+ const float *iv;
+ const int *ie;
+ dBodyID body = (dBodyID)ed->priv.server->ode_body;
+ dMass mass;
+ dReal test;
+ void *dataID;
+ dVector3 capsulerot[3];
+ dp_model_t *model;
+ float *ov;
+ int *oe;
+ int axisindex;
+ int modelindex = 0;
+ int movetype;
+ int numtriangles;
+ int numvertices;
+ int solid;
+ int triangleindex;
+ int vertexindex;
+ mempool_t *mempool;
+ prvm_eval_t *val;
+ vec3_t angles;
+ vec3_t avelocity;
+ vec3_t entmaxs;
+ vec3_t entmins;
+ vec3_t forward;
+ vec3_t geomcenter;
+ vec3_t geomsize;
+ vec3_t left;
+ vec3_t origin;
+ vec3_t spinvelocity;
+ vec3_t up;
+ vec3_t velocity;
+ vec_t f;
+ vec_t length;
+ vec_t massval = 1.0f;
+ vec_t movelimit;
+ vec_t radius;
+ vec_t spinlimit;
+#ifndef ODE_STATIC
+ if (!ode_dll)
+ return;
+#endif
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);
+ solid = (int)val->_float;
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
+ movetype = (int)val->_float;
+ switch(solid)
+ {
+ case SOLID_BSP:
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
+ modelindex = (int)val->_float;
+ if (world == &sv.world && modelindex >= 1 && modelindex < MAX_MODELS)
+ {
+ model = sv.models[modelindex];
+ mempool = sv_mempool;
+ }
+ else if (world == &cl.world && modelindex >= 1 && modelindex < MAX_MODELS)
+ {
+ model = cl.model_precache[modelindex];
+ mempool = cls.levelmempool;
+ }
+ else
+ {
+ model = NULL;
+ mempool = NULL;
+ modelindex = 0;
+ }
+ if (model)
+ {
+ VectorCopy(model->normalmins, entmins);
+ VectorCopy(model->normalmaxs, entmaxs);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
+ }
+ else
+ {
+ modelindex = 0;
+ massval = 1.0f;
+ }
+ break;
+ case SOLID_BBOX:
+ //case SOLID_SLIDEBOX:
+ case SOLID_CORPSE:
+ case SOLID_PHYSICS_BOX:
+ case SOLID_PHYSICS_SPHERE:
+ case SOLID_PHYSICS_CAPSULE:
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
+ break;
+ default:
+ 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;
+ }
+
+ if (movetype != MOVETYPE_PHYSICS)
+ massval = 1.0f;
+
+ // check if we need to create or replace the geom
+ if (!ed->priv.server->ode_physics
+ || !VectorCompare(ed->priv.server->ode_mins, entmins)
+ || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
+ || ed->priv.server->ode_mass != massval
+ || ed->priv.server->ode_modelindex != modelindex)
+ {
+ World_Physics_RemoveFromEntity(world, ed);
+ ed->priv.server->ode_physics = true;
+ VectorCopy(entmins, ed->priv.server->ode_mins);
+ VectorCopy(entmaxs, ed->priv.server->ode_maxs);
+ ed->priv.server->ode_mass = massval;
+ ed->priv.server->ode_modelindex = modelindex;
+ VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
+ ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
+
+ if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
+ {
+ if (movetype == MOVETYPE_PHYSICS)
+ Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+ massval = 1.0f;
+ VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
+ }
+
+ switch(solid)
+ {
+ case SOLID_BSP:
+ ed->priv.server->ode_offsetmatrix = identitymatrix;
+ if (!model)
+ {
+ Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+ break;
+ }
+ // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
+ if (!model->brush.collisionmesh)
+ Mod_CreateCollisionMesh(model);
+ if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
+ {
+ Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
+ 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]));
+ 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] - geomcenter[0];
+ ov[1] = iv[1] - geomcenter[1];
+ ov[2] = iv[2] - geomcenter[2];
+ }
+ 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];
+ }
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ // now create the geom
+ dataID = dGeomTriMeshDataCreate();
+ dGeomTriMeshDataBuildSingle(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_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ dBodySetMass(body, &mass);
+ dBodySetData(body, (void*)ed);
+ break;
+ case SOLID_BBOX:
+ case SOLID_SLIDEBOX:
+ case SOLID_CORPSE:
+ case SOLID_PHYSICS_BOX:
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
+ dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dBodySetMass(body, &mass);
+ dBodySetData(body, (void*)ed);
+ break;
+ case SOLID_PHYSICS_SPHERE:
+ Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
+ dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dBodySetMass(body, &mass);
+ dBodySetData(body, (void*)ed);
+ break;
+ case SOLID_PHYSICS_CAPSULE:
+ axisindex = 0;
+ if (geomsize[axisindex] < geomsize[1])
+ axisindex = 1;
+ if (geomsize[axisindex] < geomsize[2])
+ axisindex = 2;
+ // the qc gives us 3 axis radius, the longest axis is the capsule
+ // axis, since ODE doesn't like this idea we have to create a
+ // capsule which uses the standard orientation, and apply a
+ // transform to it
+ memset(capsulerot, 0, sizeof(capsulerot));
+ if (axisindex == 0)
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
+ else if (axisindex == 1)
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
+ else
+ Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
+ radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
+ length = geomsize[axisindex] - radius*2;
+ // because we want to support more than one axisindex, we have to
+ // create a transform, and turn on its cleanup setting (which will
+ // cause the child to be destroyed when it is destroyed)
+ ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
+ ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
+ dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
+ dGeomSetBody(ed->priv.server->ode_geom, body);
+ dBodySetMass(body, &mass);
+ dBodySetData(body, (void*)ed);
+ break;
+ default:
+ Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
+ }
+ Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
+ }
+
+ // get current data from entity
+ VectorClear(origin);
+ VectorClear(forward);
+ VectorClear(left);
+ VectorClear(up);
+ VectorClear(velocity);
+ VectorClear(spinvelocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
+
+ // compatibility for legacy entities
+ switch (solid)
+ {
+ case SOLID_BSP:
+ //VectorClear(velocity);
+ VectorClear(angles);
+ VectorClear(avelocity);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
+ val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, avelocity);
+ AngleVectorsFLU(angles, forward, left, up);
+ // convert single-axis rotations in avelocity to spinvelocity
+ // FIXME: untested math - check signs
+ VectorSet(spinvelocity, avelocity[PITCH] * ((float)M_PI / 180.0f), avelocity[ROLL] * ((float)M_PI / 180.0f), avelocity[YAW] * ((float)M_PI / 180.0f));
+ break;
+ case SOLID_BBOX:
+ case SOLID_SLIDEBOX:
+ case SOLID_CORPSE:
+ //VectorClear(velocity);
+ VectorSet(forward, 1, 0, 0);
+ VectorSet(left, 0, 1, 0);
+ VectorSet(up, 0, 0, 1);
+ VectorSet(spinvelocity, 0, 0, 0);
+ break;
+ }
+
+ // we must prevent NANs...
+ test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
+ if (IS_NAN(test))
+ {
+ Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = '%f %f %f' .velocity = '%f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], velocity[0], velocity[1], velocity[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
+ test = VectorLength2(origin);
+ if (IS_NAN(test))
+ VectorClear(origin);
+ test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
+ if (IS_NAN(test))
+ {
+ VectorSet(forward, 1, 0, 0);
+ VectorSet(left, 0, 1, 0);
+ VectorSet(up, 0, 0, 1);
+ }
+ test = VectorLength2(velocity);
+ if (IS_NAN(test))
+ VectorClear(velocity);
+ test = VectorLength2(spinvelocity);
+ if (IS_NAN(test))
+ {
+ VectorClear(spinvelocity);
+ }
+ }
+
+ // limit movement speed to prevent missed collisions at high speed
+ movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
+ test = VectorLength2(velocity);
+ 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(velocity, f, velocity);
+ VectorScale(spinvelocity, f, spinvelocity);
+ }
+
+ // make sure the angular velocity is not exploding
+ spinlimit = physics_ode_spinlimit.value;
+ test = VectorLength2(spinvelocity);
+ if (test > spinlimit)
+ VectorClear(spinvelocity);
+
+ // store the values into the physics engine
+ body = ed->priv.server->ode_body;
+ if (body)
+ {
+ dVector3 r[3];
+ matrix4x4_t entitymatrix;
+ matrix4x4_t bodymatrix;
+ 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];
+ dGeomSetBody(ed->priv.server->ode_geom, ed->priv.server->ode_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]);
+ // setting body to NULL makes an immovable object
+ if (movetype != MOVETYPE_PHYSICS)
+ dGeomSetBody(ed->priv.server->ode_geom, 0);
+ }
+}
+
+#define MAX_CONTACTS 16
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+ world_t *world = (world_t *)data;
+ dContact contact[MAX_CONTACTS]; // max contacts per collision pair
+ dBodyID b1;
+ dBodyID b2;
+ dJointID c;
+ int i;
+ int numcontacts;
+
+ if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+ {
+ // colliding a space with something
+ dSpaceCollide2(o1, o2, data, &nearCallback);
+ // Note we do not want to test intersections within a space,
+ // only between spaces.
+ //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
+ //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
+ return;
+ }
+
+ b1 = dGeomGetBody(o1);
+ b2 = dGeomGetBody(o2);
+
+ // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
+ if (!b1 && !b2)
+ return;
+
+ // exit without doing anything if the two bodies are connected by a joint
+ if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
+ return;
+
+ // generate contact points between the two non-space geoms
+ numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(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);
+ contact[i].surface.mu = physics_ode_contact_mu.value;
+ contact[i].surface.soft_erp = physics_ode_contact_erp.value;
+ contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
+ c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
+ dJointAttach(c, b1, b2);
+ }
+}
+#endif
+
+void World_Physics_Frame(world_t *world, double frametime, double gravity)
+{
+#ifdef USEODE
+ if (world->physics.ode)
+ {
+ int i;
+ prvm_edict_t *ed;
+
+ // 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);
+
+ world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
+ world->physics.ode_step = frametime / world->physics.ode_iterations;
+ world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
+ for (i = 0;i < world->physics.ode_iterations;i++)
+ {
+ // set the gravity
+ dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
+ // set the tolerance for closeness of objects
+ dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
+
+ // run collisions for the current world state, creating JointGroup
+ dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
+
+ // run physics (move objects, calculate new velocities)
+ if (physics_ode_worldquickstep.integer)
+ {
+ dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
+ dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
+ }
+ else if (physics_ode_worldstepfast.integer)
+ dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
+ else
+ dWorldStep(world->physics.ode_world, world->physics.ode_step);
+
+ // clear the JointGroup now that we're done with it
+ dJointGroupEmpty(world->physics.ode_contactgroup);
+ }
+
+ // copy physics properties from physics engine to entities
+ if (prog)
+ for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
+ if (!prog->edicts[i].priv.required->free && PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype)->_float == MOVETYPE_PHYSICS)
+ World_Physics_Frame_BodyToEntity(world, ed);
+ }
+#endif
+}
projects / xonotic / darkplaces.git / commitdiff