From: havoc Date: Mon, 19 Oct 2009 22:32:54 +0000 (+0000) Subject: ODE physics engine support, needs more work, disabled by default X-Git-Tag: xonotic-v0.1.0preview~1281 X-Git-Url: https://git.rm.cloudns.org/?a=commitdiff_plain;h=f68ef7b22979928fb6b8d2ba6b28e14c4caeb7c2;p=xonotic%2Fdarkplaces.git ODE physics engine support, needs more work, disabled by default git-svn-id: svn://svn.icculus.org/twilight/trunk/darkplaces@9354 d7cf8633-e32d-0410-b094-e92efae38249 --- diff --git a/cl_parse.c b/cl_parse.c index c3fdf43a..7f6e7524 100644 --- a/cl_parse.c +++ b/cl_parse.c @@ -428,6 +428,7 @@ static void CL_SetupWorldModel(void) World_SetSize(&cl.world, cl.worldmodel->name, cl.worldmodel->normalmins, cl.worldmodel->normalmaxs); else World_SetSize(&cl.world, "", defaultmins, defaultmaxs); + World_Start(&cl.world); // load or reload .loc file for team chat messages CL_Locs_Reload_f(); @@ -3186,6 +3187,9 @@ static void CL_NetworkTimeReceived(double newtime) VectorCopy(cl.mviewangles[0], cl.mviewangles[1]); // update the csqc's server timestamps, critical for proper sync CSQC_UpdateNetworkTimes(cl.mtime[0], cl.mtime[1]); + + if (cl.mtime[0] > cl.mtime[1]) + World_Physics_Frame(&cl.world, cl.mtime[0] - cl.mtime[1], cl.movevars_gravity); } #define SHOWNET(x) if(cl_shownet.integer==2)Con_Printf("%3i:%s(%i)\n", msg_readcount-1, x, cmd); diff --git a/clvm_cmds.c b/clvm_cmds.c index fb1b1654..77456632 100644 --- a/clvm_cmds.c +++ b/clvm_cmds.c @@ -4280,6 +4280,7 @@ void VM_CL_Cmd_Init(void) void VM_CL_Cmd_Reset(void) { + World_End(&cl.world); VM_Cmd_Reset(); VM_Polygons_Reset(); } diff --git a/csprogs.c b/csprogs.c index 1929838f..18d5c642 100644 --- a/csprogs.c +++ b/csprogs.c @@ -731,6 +731,7 @@ void CL_VM_CB_FreeEdict(prvm_edict_t *ed) { World_UnlinkEdict(ed); memset(ed->fields.client, 0, sizeof(*ed->fields.client)); + World_Physics_RemoveFromEntity(&cl.world, ed); } void CL_VM_CB_CountEdicts(void) diff --git a/host.c b/host.c index cb1c91d2..a5bca736 100644 --- a/host.c +++ b/host.c @@ -536,6 +536,7 @@ void Host_ShutdownServer(void) // make sure all the clients know we're disconnecting SV_VM_Begin(); + World_End(&sv.world); if(prog->loaded) if(prog->funcoffsets.SV_Shutdown) { diff --git a/makefile.inc b/makefile.inc index c04d1447..1269e1dc 100644 --- a/makefile.inc +++ b/makefile.inc @@ -23,6 +23,11 @@ CPUOPTIMIZATIONS?= #CPUOPTIMIZATIONS?=-fno-math-errno -ffinite-math-only -fno-rounding-math -fno-signaling-nans -fassociative-math -freciprocal-math -fno-signed-zeros -fno-trapping-math # NOTE: *never* *ever* use the -ffast-math or -funsafe-math-optimizations flag +# Additional stuff for libode +LIB_ODE=`[ -n "$(DP_ODE_STATIC_LIBDIR)" ] && echo \ $(DP_ODE_STATIC_LIBDIR)/libode.a\ -lstdc++` +CFLAGS_ODE=`[ -n "$(DP_ODE_STATIC_LIBDIR)" ] && echo \ -I$(DP_ODE_STATIC_LIBDIR)/../include\ -DODE_STATIC` + + SDL_CONFIG?=sdl-config SDLCONFIG_UNIXCFLAGS?=`$(SDL_CONFIG) --cflags` SDLCONFIG_UNIXLIBS?=`$(SDL_CONFIG) --libs` @@ -191,7 +196,7 @@ LDFLAGS_RELEASE=$(OPTIM_RELEASE) -DSVNREVISION=`test -d .svn && svnversion || ec OBJ_GLX= builddate.c sys_linux.o vid_glx.o $(OBJ_SOUND) $(OBJ_CD) $(OBJ_COMMON) -LDFLAGS_UNIXCOMMON=-lm +LDFLAGS_UNIXCOMMON=-lm $(LIB_ODE) LDFLAGS_UNIXCL=-L$(UNIX_X11LIBPATH) -lX11 -lXpm -lXext -lXxf86dga -lXxf86vm $(LIB_SOUND) LDFLAGS_UNIXCL_PRELOAD=-lz -ljpeg -lpng -logg -ltheora -lvorbis -lvorbisenc -lvorbisfile -lcurl -lmodplug LDFLAGS_UNIXSV_PRELOAD=-lz -lcurl @@ -464,6 +469,10 @@ snd_modplug.o: snd_modplug.c $(CHECKLEVEL2) $(DO_CC) $(CFLAGS_SND_MODPLUG) +world.o: world.c + $(CHECKLEVEL2) + $(DO_CC) $(CFLAGS_ODE) + vid_glx.o: vid_glx.c $(CHECKLEVEL2) $(DO_CC) -I/usr/X11R6/include diff --git a/model_shared.c b/model_shared.c index 653c715c..9389654b 100644 --- a/model_shared.c +++ b/model_shared.c @@ -1254,6 +1254,34 @@ void Mod_ShadowMesh_Free(shadowmesh_t *mesh) } } +void Mod_CreateCollisionMesh(dp_model_t *mod) +{ + int k; + int numcollisionmeshtriangles; + const msurface_t *surface; + mempool_t *mempool = mod->mempool; + if (!mempool && mod->brush.parentmodel) + mempool = mod->brush.parentmodel->mempool; + // make a single combined collision mesh for physics engine use + numcollisionmeshtriangles = 0; + for (k = 0;k < mod->nummodelsurfaces;k++) + { + surface = mod->data_surfaces + mod->firstmodelsurface + k; + if (!(surface->texture->supercontents & SUPERCONTENTS_SOLID)) + continue; + numcollisionmeshtriangles += surface->num_triangles; + } + mod->brush.collisionmesh = Mod_ShadowMesh_Begin(mempool, numcollisionmeshtriangles * 3, numcollisionmeshtriangles, NULL, NULL, NULL, false, false, true); + for (k = 0;k < mod->nummodelsurfaces;k++) + { + surface = mod->data_surfaces + mod->firstmodelsurface + k; + if (!(surface->texture->supercontents & SUPERCONTENTS_SOLID)) + continue; + Mod_ShadowMesh_AddMesh(mempool, mod->brush.collisionmesh, NULL, NULL, NULL, mod->surfmesh.data_vertex3f, NULL, NULL, NULL, NULL, surface->num_triangles, (mod->surfmesh.data_element3i + 3 * surface->num_firsttriangle)); + } + mod->brush.collisionmesh = Mod_ShadowMesh_Finish(mempool, mod->brush.collisionmesh, false, true, false); +} + void Mod_GetTerrainVertex3fTexCoord2fFromBGRA(const unsigned char *imagepixels, int imagewidth, int imageheight, int ix, int iy, float *vertex3f, float *texcoord2f, matrix4x4_t *pixelstepmatrix, matrix4x4_t *pixeltexturestepmatrix) { float v[3], tc[3]; diff --git a/model_shared.h b/model_shared.h index 097b2dce..d756c341 100644 --- a/model_shared.h +++ b/model_shared.h @@ -676,6 +676,9 @@ typedef struct model_brush_s // a mesh containing all shadow casting geometry for the whole model (including submodels), portions of this are referenced by each surface's num_firstshadowmeshtriangle shadowmesh_t *shadowmesh; + // a mesh containing all SUPERCONTENTS_SOLID surfaces for this model or submodel, for physics engines to use + shadowmesh_t *collisionmesh; + // common functions int (*SuperContentsFromNativeContents)(struct model_s *model, int nativecontents); int (*NativeContentsFromSuperContents)(struct model_s *model, int supercontents); @@ -966,6 +969,8 @@ shadowmesh_t *Mod_ShadowMesh_Finish(mempool_t *mempool, shadowmesh_t *firstmesh, void Mod_ShadowMesh_CalcBBox(shadowmesh_t *firstmesh, vec3_t mins, vec3_t maxs, vec3_t center, float *radius); void Mod_ShadowMesh_Free(shadowmesh_t *mesh); +void Mod_CreateCollisionMesh(dp_model_t *mod); + void Mod_FreeQ3Shaders(void); void Mod_LoadQ3Shaders(void); q3shaderinfo_t *Mod_LookupQ3Shader(const char *name); diff --git a/progs.h b/progs.h index 51e1c9da..cf0239bf 100644 --- a/progs.h +++ b/progs.h @@ -68,6 +68,22 @@ typedef struct edict_engineprivate_s // moved, in case they need to be moved back vec3_t moved_from; vec3_t moved_fromangles; + + // physics parameters + qboolean ode_physics; + void *ode_body; + void *ode_geom; + float *ode_vertex3f; + int *ode_element3i; + int ode_numvertices; + int ode_numtriangles; + vec3_t ode_mins; + vec3_t ode_maxs; + vec_t ode_mass; + int ode_modelindex; + vec_t ode_movelimit; // smallest component of (maxs[]-mins[]) + matrix4x4_t ode_offsetmatrix; + matrix4x4_t ode_offsetimatrix; } edict_engineprivate_t; diff --git a/progsvm.h b/progsvm.h index b175a7b1..5d60d777 100644 --- a/progsvm.h +++ b/progsvm.h @@ -231,6 +231,20 @@ typedef struct prvm_prog_fieldoffsets_s int yaw_speed; // ssqc / csqc int bouncefactor; // ssqc int bouncestop; // ssqc + + int solid; // ssqc / csqc (physics) + int movetype; // ssqc / csqc (physics) + int modelindex; // ssqc / csqc (physics) + int mins; // ssqc / csqc (physics) + int maxs; // ssqc / csqc (physics) + int mass; // ssqc / csqc (physics) + int origin; // ssqc / csqc (physics) + int axis_forward; // ssqc / csqc (physics) + int axis_left; // ssqc / csqc (physics) + int axis_up; // ssqc / csqc (physics) + //int angles; // ssqc / csqc (physics) + int velocity; // ssqc / csqc (physics) + int spinvelocity; // ssqc / csqc (physics) } prvm_prog_fieldoffsets_t; diff --git a/protocol.c b/protocol.c index 6ae92b26..acd5999a 100644 --- a/protocol.c +++ b/protocol.c @@ -2032,7 +2032,7 @@ void EntityState5_WriteUpdate(int number, const entity_state_t *s, int changedbi else { bits = changedbits; - if ((bits & E5_ORIGIN) && (s->exteriormodelforclient || s->tagentity || s->viewmodelforclient || (s->number >= 1 && s->number <= svs.maxclients) || s->origin[0] <= -4096.0625 || s->origin[0] >= 4095.9375 || s->origin[1] <= -4096.0625 || s->origin[1] >= 4095.9375 || s->origin[2] <= -4096.0625 || s->origin[2] >= 4095.9375)) + if ((bits & E5_ORIGIN) && (s->flags & RENDER_LOWPRECISION) && (s->exteriormodelforclient || s->tagentity || s->viewmodelforclient || (s->number >= 1 && s->number <= svs.maxclients) || s->origin[0] <= -4096.0625 || s->origin[0] >= 4095.9375 || s->origin[1] <= -4096.0625 || s->origin[1] >= 4095.9375 || s->origin[2] <= -4096.0625 || s->origin[2] >= 4095.9375)) // maybe also add: ((model = sv.models[s->modelindex]) != NULL && model->name[0] == '*') bits |= E5_ORIGIN32; // possible values: diff --git a/prvm_edict.c b/prvm_edict.c index 92e53f9a..c2a3abdd 100644 --- a/prvm_edict.c +++ b/prvm_edict.c @@ -1635,6 +1635,21 @@ void PRVM_FindOffsets(void) prog->fieldoffsets.yaw_speed = PRVM_ED_FindFieldOffset("yaw_speed"); prog->fieldoffsets.bouncefactor = PRVM_ED_FindFieldOffset("bouncefactor"); prog->fieldoffsets.bouncestop = PRVM_ED_FindFieldOffset("bouncestop"); + + prog->fieldoffsets.solid = PRVM_ED_FindFieldOffset("solid"); + prog->fieldoffsets.movetype = PRVM_ED_FindFieldOffset("movetype"); + prog->fieldoffsets.modelindex = PRVM_ED_FindFieldOffset("modelindex"); + prog->fieldoffsets.mins = PRVM_ED_FindFieldOffset("mins"); + prog->fieldoffsets.maxs = PRVM_ED_FindFieldOffset("maxs"); + prog->fieldoffsets.mass = PRVM_ED_FindFieldOffset("mass"); + prog->fieldoffsets.origin = PRVM_ED_FindFieldOffset("origin"); + prog->fieldoffsets.axis_forward = PRVM_ED_FindFieldOffset("axis_forward"); + prog->fieldoffsets.axis_left = PRVM_ED_FindFieldOffset("axis_left"); + prog->fieldoffsets.axis_up = PRVM_ED_FindFieldOffset("axis_up"); + prog->fieldoffsets.angles = PRVM_ED_FindFieldOffset("angles"); + prog->fieldoffsets.velocity = PRVM_ED_FindFieldOffset("velocity"); + prog->fieldoffsets.spinvelocity = PRVM_ED_FindFieldOffset("spinvelocity"); + prog->funcoffsets.CSQC_ConsoleCommand = PRVM_ED_FindFunctionOffset("CSQC_ConsoleCommand"); prog->funcoffsets.CSQC_Ent_Remove = PRVM_ED_FindFunctionOffset("CSQC_Ent_Remove"); prog->funcoffsets.CSQC_Ent_Spawn = PRVM_ED_FindFunctionOffset("CSQC_Ent_Spawn"); diff --git a/server.h b/server.h index 7f7a7573..d904c55a 100644 --- a/server.h +++ b/server.h @@ -313,6 +313,7 @@ typedef struct client_s #define MOVETYPE_BOUNCEMISSILE 11 ///< bounce w/o gravity #define MOVETYPE_FOLLOW 12 ///< track movement of aiment #define MOVETYPE_FAKEPUSH 13 ///< tenebrae's push that doesn't push +#define MOVETYPE_PHYSICS 32 ///< indicates this object is physics controlled // edict->solid values #define SOLID_NOT 0 ///< no interaction with other objects @@ -322,6 +323,10 @@ typedef struct client_s #define SOLID_BSP 4 ///< bsp clip, touch on edge, block // LordHavoc: corpse code #define SOLID_CORPSE 5 ///< same as SOLID_BBOX, except it behaves as SOLID_NOT against SOLID_SLIDEBOX objects (players/monsters) +// LordHavoc: physics +#define SOLID_PHYSICS_BOX 32 ///< physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity, spinvelocity) +#define SOLID_PHYSICS_SPHERE 33 ///< physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity, spinvelocity) +#define SOLID_PHYSICS_CAPSULE 34 ///< physics object (mins, maxs, mass, origin, axis_forward, axis_left, axis_up, velocity, spinvelocity) // edict->deadflag values #define DEAD_NO 0 diff --git a/sv_main.c b/sv_main.c index a5248569..bcd38766 100644 --- a/sv_main.c +++ b/sv_main.c @@ -296,6 +296,21 @@ prvm_required_field_t reqfields[] = {ev_vector, "glowmod"}, {ev_vector, "movement"}, {ev_vector, "punchvector"}, + + // physics + //{ev_float, "solid"}, + //{ev_float, "movetype"}, + //{ev_float, "modelindex"}, + {ev_vector, "mass"}, + //{ev_vector, "origin"}, + //{ev_vector, "angles"}, + {ev_vector, "axis_forward"}, + {ev_vector, "axis_left"}, + {ev_vector, "axis_up"}, + //{ev_vector, "angles"}, + //{ev_vector, "velocity"}, + {ev_vector, "spinvelocity"}, + }; @@ -2942,6 +2957,7 @@ void SV_SpawnServer (const char *server) if(sv.active) { SV_VM_Begin(); + World_End(&sv.world); if(prog->funcoffsets.SV_Shutdown) { func_t s = prog->funcoffsets.SV_Shutdown; @@ -3072,6 +3088,7 @@ void SV_SpawnServer (const char *server) // clear world interaction links // World_SetSize(&sv.world, sv.worldmodel->name, sv.worldmodel->normalmins, sv.worldmodel->normalmaxs); + World_Start(&sv.world); strlcpy(sv.sound_precache[0], "", sizeof(sv.sound_precache[0])); @@ -3272,6 +3289,8 @@ static void SV_VM_CB_FreeEdict(prvm_edict_t *ed) ed->fields.server->nextthink = -1; ed->fields.server->solid = 0; + World_Physics_RemoveFromEntity(&sv.world, ed); + // make sure csqc networking is aware of the removed entity e = PRVM_NUM_FOR_EDICT(ed); sv.csqcentityversion[e] = 0; diff --git a/sv_phys.c b/sv_phys.c index df72445c..e4292c1a 100644 --- a/sv_phys.c +++ b/sv_phys.c @@ -1634,12 +1634,18 @@ void SV_PushMove (prvm_edict_t *pusher, float movetime) for (e = 0;e < numcheckentities;e++) { prvm_edict_t *check = checkentities[e]; - if (check->fields.server->movetype == MOVETYPE_NONE - || check->fields.server->movetype == MOVETYPE_PUSH - || check->fields.server->movetype == MOVETYPE_FOLLOW - || check->fields.server->movetype == MOVETYPE_NOCLIP - || check->fields.server->movetype == MOVETYPE_FAKEPUSH) + int movetype = (int)check->fields.server->movetype; + switch(movetype) + { + case MOVETYPE_NONE: + case MOVETYPE_PUSH: + case MOVETYPE_FOLLOW: + case MOVETYPE_NOCLIP: + case MOVETYPE_FAKEPUSH: continue; + default: + break; + } if (check->fields.server->owner == pusherprog) continue; @@ -1687,6 +1693,15 @@ void SV_PushMove (prvm_edict_t *pusher, float movetime) VectorCopy (check->fields.server->angles, check->priv.server->moved_fromangles); moved_edicts[num_moved++] = PRVM_NUM_FOR_EDICT(check); + // physics objects need better collisions than this code can do + if (movetype == MOVETYPE_PHYSICS) + { + VectorAdd(check->fields.server->origin, move, check->fields.server->origin); + SV_LinkEdict(check); + SV_LinkEdict_TouchAreaGrid(check); + continue; + } + // try moving the contacted entity pusher->fields.server->solid = SOLID_NOT; if(!SV_PushEntity (&trace, check, move, true, true)) @@ -2660,6 +2675,13 @@ static void SV_Physics_Entity (prvm_edict_t *ent) if (SV_RunThink (ent)) SV_Physics_Toss (ent); break; + case MOVETYPE_PHYSICS: + if (SV_RunThink(ent)) + { + SV_LinkEdict(ent); + SV_LinkEdict_TouchAreaGrid(ent); + } + break; default: Con_Printf ("SV_Physics: bad movetype %i\n", (int)ent->fields.server->movetype); break; @@ -2824,6 +2846,9 @@ static void SV_Physics_ClientEntity(prvm_edict_t *ent) SV_RunThink (ent); SV_WalkMove (ent); break; + case MOVETYPE_PHYSICS: + SV_RunThink (ent); + break; default: Con_Printf ("SV_Physics_ClientEntity: bad movetype %i\n", (int)ent->fields.server->movetype); break; @@ -2855,6 +2880,9 @@ void SV_Physics (void) prog->globals.server->frametime = sv.frametime; PRVM_ExecuteProgram (prog->globals.server->StartFrame, "QC function StartFrame is missing"); + // run physics engine + World_Physics_Frame(&sv.world, sv.frametime, sv_gravity.value); + // // treat each object in turn // diff --git a/svvm_cmds.c b/svvm_cmds.c index a4a2d143..f1f15f64 100644 --- a/svvm_cmds.c +++ b/svvm_cmds.c @@ -3724,6 +3724,7 @@ void VM_SV_Cmd_Init(void) void VM_SV_Cmd_Reset(void) { + World_End(&sv.world); if(prog->funcoffsets.SV_Shutdown) { func_t s = prog->funcoffsets.SV_Shutdown; diff --git a/world.c b/world.c index 20abb84a..85bc5990 100644 --- a/world.c +++ b/world.c @@ -29,9 +29,29 @@ line of sight checks trace->inopen and trace->inwater, but bullets don't */ +static void World_Physics_Init(void); void World_Init(void) { Collision_Init(); + World_Physics_Init(); +} + +static void World_Physics_Shutdown(void); +void World_Shutdown(void) +{ + World_Physics_Shutdown(); +} + +static void World_Physics_Start(world_t *world); +void World_Start(world_t *world) +{ + World_Physics_Start(world); +} + +static void World_Physics_End(world_t *world); +void World_End(world_t *world) +{ + World_Physics_End(world); } //============================================================================ @@ -285,3 +305,1728 @@ void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const 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 +} diff --git a/world.h b/world.h index b95af6f8..7e3cf3a1 100644 --- a/world.h +++ b/world.h @@ -39,6 +39,23 @@ typedef struct link_s struct link_s *prev, *next; } link_t; +typedef struct world_physics_s +{ + // for ODE physics engine + qboolean ode; // if true then ode is activated + void *ode_world; + void *ode_space; + void *ode_contactgroup; + // number of constraint solver iterations to use (for dWorldStepFast) + int ode_iterations; + // actual step (server frametime / ode_iterations) + vec_t ode_step; + // max velocity for a 1-unit radius object at current step to prevent + // missed collisions + vec_t ode_movelimit; +} +world_physics_t; + typedef struct world_s { // convenient fields @@ -58,6 +75,9 @@ typedef struct world_s vec3_t areagrid_maxs; vec3_t areagrid_size; int areagrid_marknumber; + + // if the QC uses a physics engine, the data for it is here + world_physics_t physics; } world_t; @@ -69,6 +89,7 @@ void World_RemoveLink(link_t *l); void World_InsertLinkBefore(link_t *l, link_t *before, int entitynumber); void World_Init(void); +void World_Shutdown(void); /// called after the world model has been loaded, before linking any entities void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs); @@ -87,5 +108,17 @@ void World_LinkEdict(world_t *world, struct prvm_edict_s *ent, const vec3_t mins /// \returns list of entities touching a box int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, struct prvm_edict_s **list); +void World_Start(world_t *world); +void World_End(world_t *world); + +// update physics +// this is called by SV_Physics +void World_Physics_Frame(world_t *world, double frametime, double gravity); + +// remove physics data from entity +// this is called by entity removal +struct prvm_edict_s; +void World_Physics_RemoveFromEntity(world_t *world, struct prvm_edict_s *ed); + #endif