world.c

   1 /*
   2 Copyright (C) 1996-1997 Id Software, Inc.
   3
   4 This program is free software; you can redistribute it and/or
   5 modify it under the terms of the GNU General Public License
   6 as published by the Free Software Foundation; either version 2
   7 of the License, or (at your option) any later version.
   8
   9 This program is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  12
  13 See the GNU General Public License for more details.
  14
  15 You should have received a copy of the GNU General Public License
  16 along with this program; if not, write to the Free Software
  17 Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  18
  19 */
  20 // world.c -- world query functions
  21
  22 #include "quakedef.h"
  23 #include "clvm_cmds.h"
  24
  25 /*
  26
  27 entities never clip against themselves, or their owner
  28
  29 line of sight checks trace->inopen and trace->inwater, but bullets don't
  30
  31 */
  32
  33 static void World_Physics_Init(void);
  34 void World_Init(void)
  35 {
  36         Collision_Init();
  37         World_Physics_Init();
  38 }
  39
  40 static void World_Physics_Shutdown(void);
  41 void World_Shutdown(void)
  42 {
  43         World_Physics_Shutdown();
  44 }
  45
  46 static void World_Physics_Start(world_t *world);
  47 void World_Start(world_t *world)
  48 {
  49         World_Physics_Start(world);
  50 }
  51
  52 static void World_Physics_End(world_t *world);
  53 void World_End(world_t *world)
  54 {
  55         World_Physics_End(world);
  56 }
  57
  58 //============================================================================
  59
  60 /// World_ClearLink is used for new headnodes
  61 void World_ClearLink (link_t *l)
  62 {
  63         l->entitynumber = 0;
  64         l->prev = l->next = l;
  65 }
  66
  67 void World_RemoveLink (link_t *l)
  68 {
  69         l->next->prev = l->prev;
  70         l->prev->next = l->next;
  71 }
  72
  73 void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
  74 {
  75         l->entitynumber = entitynumber;
  76         l->next = before;
  77         l->prev = before->prev;
  78         l->prev->next = l;
  79         l->next->prev = l;
  80 }
  81
  82 /*
  83 ===============================================================================
  84
  85 ENTITY AREA CHECKING
  86
  87 ===============================================================================
  88 */
  89
  90 void World_PrintAreaStats(world_t *world, const char *worldname)
  91 {
  92         Con_Printf("%s areagrid check stats: %d calls %d nodes (%f per call) %d entities (%f per call)\n", worldname, world->areagrid_stats_calls, world->areagrid_stats_nodechecks, (double) world->areagrid_stats_nodechecks / (double) world->areagrid_stats_calls, world->areagrid_stats_entitychecks, (double) world->areagrid_stats_entitychecks / (double) world->areagrid_stats_calls);
  93         world->areagrid_stats_calls = 0;
  94         world->areagrid_stats_nodechecks = 0;
  95         world->areagrid_stats_entitychecks = 0;
  96 }
  97
  98 /*
  99 ===============
 100 World_SetSize
 101
 102 ===============
 103 */
 104 void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
 105 {
 106         int i;
 107
 108         strlcpy(world->filename, filename, sizeof(world->filename));
 109         VectorCopy(mins, world->mins);
 110         VectorCopy(maxs, world->maxs);
 111
 112         // the areagrid_marknumber is not allowed to be 0
 113         if (world->areagrid_marknumber < 1)
 114                 world->areagrid_marknumber = 1;
 115         // choose either the world box size, or a larger box to ensure the grid isn't too fine
 116         world->areagrid_size[0] = max(world->areagrid_maxs[0] - world->areagrid_mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
 117         world->areagrid_size[1] = max(world->areagrid_maxs[1] - world->areagrid_mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
 118         world->areagrid_size[2] = max(world->areagrid_maxs[2] - world->areagrid_mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
 119         // figure out the corners of such a box, centered at the center of the world box
 120         world->areagrid_mins[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] - world->areagrid_size[0]) * 0.5f;
 121         world->areagrid_mins[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] - world->areagrid_size[1]) * 0.5f;
 122         world->areagrid_mins[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] - world->areagrid_size[2]) * 0.5f;
 123         world->areagrid_maxs[0] = (world->areagrid_mins[0] + world->areagrid_maxs[0] + world->areagrid_size[0]) * 0.5f;
 124         world->areagrid_maxs[1] = (world->areagrid_mins[1] + world->areagrid_maxs[1] + world->areagrid_size[1]) * 0.5f;
 125         world->areagrid_maxs[2] = (world->areagrid_mins[2] + world->areagrid_maxs[2] + world->areagrid_size[2]) * 0.5f;
 126         // now calculate the actual useful info from that
 127         VectorNegate(world->areagrid_mins, world->areagrid_bias);
 128         world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
 129         world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
 130         world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
 131         World_ClearLink(&world->areagrid_outside);
 132         for (i = 0;i < AREA_GRIDNODES;i++)
 133                 World_ClearLink(&world->areagrid[i]);
 134         if (developer_extra.integer)
 135                 Con_DPrintf("areagrid settings: divisions %ix%ix1 : box %f %f %f : %f %f %f size %f %f %f grid %f %f %f (mingrid %f)\n", AREA_GRID, AREA_GRID, world->areagrid_mins[0], world->areagrid_mins[1], world->areagrid_mins[2], world->areagrid_maxs[0], world->areagrid_maxs[1], world->areagrid_maxs[2], world->areagrid_size[0], world->areagrid_size[1], world->areagrid_size[2], 1.0f / world->areagrid_scale[0], 1.0f / world->areagrid_scale[1], 1.0f / world->areagrid_scale[2], sv_areagrid_mingridsize.value);
 136 }
 137
 138 /*
 139 ===============
 140 World_UnlinkAll
 141
 142 ===============
 143 */
 144 void World_UnlinkAll(world_t *world)
 145 {
 146         int i;
 147         link_t *grid;
 148         // unlink all entities one by one
 149         grid = &world->areagrid_outside;
 150         while (grid->next != grid)
 151                 World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
 152         for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
 153                 while (grid->next != grid)
 154                         World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
 155 }
 156
 157 /*
 158 ===============
 159
 160 ===============
 161 */
 162 void World_UnlinkEdict(prvm_edict_t *ent)
 163 {
 164         int i;
 165         for (i = 0;i < ENTITYGRIDAREAS;i++)
 166         {
 167                 if (ent->priv.server->areagrid[i].prev)
 168                 {
 169                         World_RemoveLink (&ent->priv.server->areagrid[i]);
 170                         ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
 171                 }
 172         }
 173 }
 174
 175 int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
 176 {
 177         int numlist;
 178         link_t *grid;
 179         link_t *l;
 180         prvm_edict_t *ent;
 181         int igrid[3], igridmins[3], igridmaxs[3];
 182
 183         // FIXME: if areagrid_marknumber wraps, all entities need their
 184         // ent->priv.server->areagridmarknumber reset
 185         world->areagrid_stats_calls++;
 186         world->areagrid_marknumber++;
 187         igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
 188         igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
 189         //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
 190         igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
 191         igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
 192         //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
 193         igridmins[0] = max(0, igridmins[0]);
 194         igridmins[1] = max(0, igridmins[1]);
 195         //igridmins[2] = max(0, igridmins[2]);
 196         igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
 197         igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
 198         //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);
 199
 200         numlist = 0;
 201         // add entities not linked into areagrid because they are too big or
 202         // outside the grid bounds
 203         if (world->areagrid_outside.next != &world->areagrid_outside)
 204         {
 205                 grid = &world->areagrid_outside;
 206                 for (l = grid->next;l != grid;l = l->next)
 207                 {
 208                         ent = PRVM_EDICT_NUM(l->entitynumber);
 209                         if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
 210                         {
 211                                 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
 212                                 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
 213                                 {
 214                                         if (numlist < maxlist)
 215                                                 list[numlist] = ent;
 216                                         numlist++;
 217                                 }
 218                                 world->areagrid_stats_entitychecks++;
 219                         }
 220                 }
 221         }
 222         // add grid linked entities
 223         for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
 224         {
 225                 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
 226                 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
 227                 {
 228                         if (grid->next != grid)
 229                         {
 230                                 for (l = grid->next;l != grid;l = l->next)
 231                                 {
 232                                         ent = PRVM_EDICT_NUM(l->entitynumber);
 233                                         if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
 234                                         {
 235                                                 ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
 236                                                 if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
 237                                                 {
 238                                                         if (numlist < maxlist)
 239                                                                 list[numlist] = ent;
 240                                                         numlist++;
 241                                                 }
 242                                                 //Con_Printf("%d %f %f %f %f %f %f : %d : %f %f %f %f %f %f\n", BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs), ent->priv.server->areamins[0], ent->priv.server->areamins[1], ent->priv.server->areamins[2], ent->priv.server->areamaxs[0], ent->priv.server->areamaxs[1], ent->priv.server->areamaxs[2], PRVM_NUM_FOR_EDICT(ent), mins[0], mins[1], mins[2], maxs[0], maxs[1], maxs[2]);
 243                                         }
 244                                         world->areagrid_stats_entitychecks++;
 245                                 }
 246                         }
 247                 }
 248         }
 249         return numlist;
 250 }
 251
 252 void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
 253 {
 254         link_t *grid;
 255         int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);
 256
 257         if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
 258         {
 259                 Con_Printf ("World_LinkEdict_AreaGrid: invalid edict %p (edicts is %p, edict compared to prog->edicts is %i)\n", (void *)ent, (void *)prog->edicts, entitynumber);
 260                 return;
 261         }
 262
 263         igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
 264         igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
 265         //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
 266         igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
 267         igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
 268         //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
 269         if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
 270         {
 271                 // wow, something outside the grid, store it as such
 272                 World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
 273                 return;
 274         }
 275
 276         gridnum = 0;
 277         for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
 278         {
 279                 grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
 280                 for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
 281                         World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
 282         }
 283 }
 284
 285 /*
 286 ===============
 287 World_LinkEdict
 288
 289 ===============
 290 */
 291 void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
 292 {
 293         // unlink from old position first
 294         if (ent->priv.server->areagrid[0].prev)
 295                 World_UnlinkEdict(ent);
 296
 297         // don't add the world
 298         if (ent == prog->edicts)
 299                 return;
 300
 301         // don't add free entities
 302         if (ent->priv.server->free)
 303                 return;
 304
 305         VectorCopy(mins, ent->priv.server->areamins);
 306         VectorCopy(maxs, ent->priv.server->areamaxs);
 307         World_LinkEdict_AreaGrid(world, ent);
 308 }
 309
 310
 311
 312
 313 //============================================================================
 314 // physics engine support
 315 //============================================================================
 316
 317 //#ifndef ODE_STATIC
 318 //#define ODE_DYNAMIC 1
 319 //#endif
 320
 321 #if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
 322 #define USEODE 1
 323 #endif
 324
 325 #ifdef USEODE
 326 cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
 327 cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","0", "allows objects to overlap this many units to reduce jitter"};
 328 cvar_t physics_ode_worldquickstep = {0, "physics_ode_worldquickstep","1", "use dWorldQuickStep rather than dWorldStepFast1 or dWorldStep"};
 329 cvar_t physics_ode_worldquickstep_iterations = {0, "physics_ode_worldquickstep_iterations","20", "parameter to dWorldQuickStep"};
 330 cvar_t physics_ode_worldstepfast = {0, "physics_ode_worldstepfast","0", "use dWorldStepFast1 rather than dWorldStep"};
 331 cvar_t physics_ode_worldstepfast_iterations = {0, "physics_ode_worldstepfast_iterations","20", "parameter to dWorldStepFast1"};
 332 cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
 333 cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
 334 cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
 335 cvar_t physics_ode_world_erp = {0, "physics_ode_world_erp", "-1", "world solver erp parameter - Error Restitution Percent (see ODE User Guide); use defaults when set to -1"};
 336 cvar_t physics_ode_world_cfm = {0, "physics_ode_world_cfm", "-1", "world solver cfm parameter - Constraint Force Mixing (see ODE User Guide); not touched when -1"};
 337 cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "4", "divisor for time step, runs multiple physics steps per frame"};
 338 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"};
 339 cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
 340
 341 // LordHavoc: this large chunk of definitions comes from the ODE library
 342 // include files.
 343
 344 #ifdef ODE_STATIC
 345 #include "ode/ode.h"
 346 #else
 347 #ifdef WINAPI
 348 // ODE does not use WINAPI
 349 #define ODE_API
 350 #else
 351 #define ODE_API
 352 #endif
 353
 354 // note: dynamic builds of ODE tend to be double precision, this is not used
 355 // for static builds
 356 typedef double dReal;
 357
 358 typedef dReal dVector3[4];
 359 typedef dReal dVector4[4];
 360 typedef dReal dMatrix3[4*3];
 361 typedef dReal dMatrix4[4*4];
 362 typedef dReal dMatrix6[8*6];
 363 typedef dReal dQuaternion[4];
 364
 365 struct dxWorld;         /* dynamics world */
 366 struct dxSpace;         /* collision space */
 367 struct dxBody;          /* rigid body (dynamics object) */
 368 struct dxGeom;          /* geometry (collision object) */
 369 struct dxJoint;
 370 struct dxJointNode;
 371 struct dxJointGroup;
 372 struct dxTriMeshData;
 373
 374 #define dInfinity 3.402823466e+38f
 375
 376 typedef struct dxWorld *dWorldID;
 377 typedef struct dxSpace *dSpaceID;
 378 typedef struct dxBody *dBodyID;
 379 typedef struct dxGeom *dGeomID;
 380 typedef struct dxJoint *dJointID;
 381 typedef struct dxJointGroup *dJointGroupID;
 382 typedef struct dxTriMeshData *dTriMeshDataID;
 383
 384 typedef struct dJointFeedback
 385 {
 386         dVector3 f1;            /* force applied to body 1 */
 387         dVector3 t1;            /* torque applied to body 1 */
 388         dVector3 f2;            /* force applied to body 2 */
 389         dVector3 t2;            /* torque applied to body 2 */
 390 }
 391 dJointFeedback;
 392
 393 typedef enum dJointType
 394 {
 395         dJointTypeNone = 0,
 396         dJointTypeBall,
 397         dJointTypeHinge,
 398         dJointTypeSlider,
 399         dJointTypeContact,
 400         dJointTypeUniversal,
 401         dJointTypeHinge2,
 402         dJointTypeFixed,
 403         dJointTypeNull,
 404         dJointTypeAMotor,
 405         dJointTypeLMotor,
 406         dJointTypePlane2D,
 407         dJointTypePR,
 408         dJointTypePU,
 409         dJointTypePiston
 410 }
 411 dJointType;
 412
 413 #define D_ALL_PARAM_NAMES(start) \
 414   /* parameters for limits and motors */ \
 415   dParamLoStop = start, \
 416   dParamHiStop, \
 417   dParamVel, \
 418   dParamFMax, \
 419   dParamFudgeFactor, \
 420   dParamBounce, \
 421   dParamCFM, \
 422   dParamStopERP, \
 423   dParamStopCFM, \
 424   /* parameters for suspension */ \
 425   dParamSuspensionERP, \
 426   dParamSuspensionCFM, \
 427   dParamERP, \
 428
 429 #define D_ALL_PARAM_NAMES_X(start,x) \
 430   /* parameters for limits and motors */ \
 431   dParamLoStop ## x = start, \
 432   dParamHiStop ## x, \
 433   dParamVel ## x, \
 434   dParamFMax ## x, \
 435   dParamFudgeFactor ## x, \
 436   dParamBounce ## x, \
 437   dParamCFM ## x, \
 438   dParamStopERP ## x, \
 439   dParamStopCFM ## x, \
 440   /* parameters for suspension */ \
 441   dParamSuspensionERP ## x, \
 442   dParamSuspensionCFM ## x, \
 443   dParamERP ## x,
 444
 445 enum {
 446   D_ALL_PARAM_NAMES(0)
 447   D_ALL_PARAM_NAMES_X(0x100,2)
 448   D_ALL_PARAM_NAMES_X(0x200,3)
 449
 450   /* add a multiple of this constant to the basic parameter numbers to get
 451    * the parameters for the second, third etc axes.
 452    */
 453   dParamGroup=0x100
 454 };
 455
 456 typedef struct dMass
 457 {
 458         dReal mass;
 459         dVector3 c;
 460         dMatrix3 I;
 461 }
 462 dMass;
 463
 464 enum
 465 {
 466         dContactMu2                     = 0x001,
 467         dContactFDir1           = 0x002,
 468         dContactBounce          = 0x004,
 469         dContactSoftERP         = 0x008,
 470         dContactSoftCFM         = 0x010,
 471         dContactMotion1         = 0x020,
 472         dContactMotion2         = 0x040,
 473         dContactMotionN         = 0x080,
 474         dContactSlip1           = 0x100,
 475         dContactSlip2           = 0x200,
 476
 477         dContactApprox0         = 0x0000,
 478         dContactApprox1_1       = 0x1000,
 479         dContactApprox1_2       = 0x2000,
 480         dContactApprox1         = 0x3000
 481 };
 482
 483 typedef struct dSurfaceParameters
 484 {
 485         /* must always be defined */
 486         int mode;
 487         dReal mu;
 488
 489         /* only defined if the corresponding flag is set in mode */
 490         dReal mu2;
 491         dReal bounce;
 492         dReal bounce_vel;
 493         dReal soft_erp;
 494         dReal soft_cfm;
 495         dReal motion1,motion2,motionN;
 496         dReal slip1,slip2;
 497 } dSurfaceParameters;
 498
 499 typedef struct dContactGeom
 500 {
 501         dVector3 pos;          ///< contact position
 502         dVector3 normal;       ///< normal vector
 503         dReal depth;           ///< penetration depth
 504         dGeomID g1,g2;         ///< the colliding geoms
 505         int side1,side2;       ///< (to be documented)
 506 }
 507 dContactGeom;
 508
 509 typedef struct dContact
 510 {
 511         dSurfaceParameters surface;
 512         dContactGeom geom;
 513         dVector3 fdir1;
 514 }
 515 dContact;
 516
 517 typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
 518
 519 // SAP
 520 // Order XZY or ZXY usually works best, if your Y is up.
 521 #define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
 522 #define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
 523 #define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
 524 #define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
 525 #define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
 526 #define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))
 527
 528 //const char*     (ODE_API *dGetConfiguration)(void);
 529 int             (ODE_API *dCheckConfiguration)( const char* token );
 530 int             (ODE_API *dInitODE)(void);
 531 //int             (ODE_API *dInitODE2)(unsigned int uiInitFlags);
 532 //int             (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
 533 //void            (ODE_API *dCleanupODEAllDataForThread)(void);
 534 void            (ODE_API *dCloseODE)(void);
 535
 536 //int             (ODE_API *dMassCheck)(const dMass *m);
 537 //void            (ODE_API *dMassSetZero)(dMass *);
 538 //void            (ODE_API *dMassSetParameters)(dMass *, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23);
 539 //void            (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
 540 void            (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
 541 //void            (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
 542 void            (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
 543 //void            (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
 544 //void            (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
 545 //void            (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
 546 void            (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
 547 //void            (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
 548 //void            (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
 549 //void            (ODE_API *dMassAdjust)(dMass *, dReal newmass);
 550 //void            (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
 551 //void            (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
 552 //void            (ODE_API *dMassAdd)(dMass *a, const dMass *b);
 553 //
 554 dWorldID        (ODE_API *dWorldCreate)(void);
 555 void            (ODE_API *dWorldDestroy)(dWorldID world);
 556 void            (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
 557 void            (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
 558 void            (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
 559 //dReal           (ODE_API *dWorldGetERP)(dWorldID);
 560 void            (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
 561 //dReal           (ODE_API *dWorldGetCFM)(dWorldID);
 562 void            (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
 563 //void            (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
 564 void            (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
 565 void            (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
 566 //int             (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
 567 //void            (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
 568 //dReal           (ODE_API *dWorldGetQuickStepW)(dWorldID);
 569 //void            (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
 570 //dReal           (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
 571 void            (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
 572 //dReal           (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
 573 void            (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
 574 //void            (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
 575 //int             (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
 576 //dReal           (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
 577 //void            (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
 578 //dReal           (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
 579 //void            (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
 580 //dReal           (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
 581 //void            (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
 582 //dReal           (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
 583 //void            (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
 584 //int             (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
 585 //void            (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
 586 //int             (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
 587 //void            (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
 588 //dReal           (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
 589 //void            (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
 590 //int             (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
 591 //void            (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
 592 //dReal           (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
 593 //void            (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
 594 //dReal           (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
 595 //void            (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
 596 //dReal           (ODE_API *dWorldGetLinearDamping)(dWorldID w);
 597 //void            (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
 598 //dReal           (ODE_API *dWorldGetAngularDamping)(dWorldID w);
 599 //void            (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
 600 //void            (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
 601 //dReal           (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
 602 //void            (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
 603 //dReal           (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
 604 //void            (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
 605 //dReal           (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
 606 //void            (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
 607 //int             (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
 608 //void            (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
 609 //int             (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
 610 //void            (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
 611 //dReal           (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
 612 //void            (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
 613 //int             (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
 614 //void            (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
 615 //void            (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
 616 //dWorldID        (ODE_API *dBodyGetWorld)(dBodyID);
 617 dBodyID         (ODE_API *dBodyCreate)(dWorldID);
 618 void            (ODE_API *dBodyDestroy)(dBodyID);
 619 void            (ODE_API *dBodySetData)(dBodyID, void *data);
 620 void *          (ODE_API *dBodyGetData)(dBodyID);
 621 void            (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
 622 void            (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
 623 //void            (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
 624 void            (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
 625 void            (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
 626 const dReal *   (ODE_API *dBodyGetPosition)(dBodyID);
 627 //void            (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
 628 const dReal *   (ODE_API *dBodyGetRotation)(dBodyID);
 629 //void            (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
 630 //const dReal *   (ODE_API *dBodyGetQuaternion)(dBodyID);
 631 //void            (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
 632 const dReal *   (ODE_API *dBodyGetLinearVel)(dBodyID);
 633 const dReal *   (ODE_API *dBodyGetAngularVel)(dBodyID);
 634 void            (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
 635 //void            (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
 636 //void            (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
 637 //void            (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
 638 //void            (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
 639 //void            (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
 640 //void            (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 641 //void            (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 642 //void            (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 643 //void            (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
 644 //const dReal *   (ODE_API *dBodyGetForce)(dBodyID);
 645 //const dReal *   (ODE_API *dBodyGetTorque)(dBodyID);
 646 //void            (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
 647 //void            (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
 648 //void            (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 649 //void            (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 650 //void            (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 651 //void            (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 652 //void            (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 653 //void            (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
 654 //void            (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
 655 //void            (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
 656 //int             (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
 657 //void            (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
 658 int             (ODE_API *dBodyGetNumJoints)(dBodyID b);
 659 dJointID        (ODE_API *dBodyGetJoint)(dBodyID, int index);
 660 //void            (ODE_API *dBodySetDynamic)(dBodyID);
 661 //void            (ODE_API *dBodySetKinematic)(dBodyID);
 662 //int             (ODE_API *dBodyIsKinematic)(dBodyID);
 663 //void            (ODE_API *dBodyEnable)(dBodyID);
 664 //void            (ODE_API *dBodyDisable)(dBodyID);
 665 //int             (ODE_API *dBodyIsEnabled)(dBodyID);
 666 void            (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
 667 int             (ODE_API *dBodyGetGravityMode)(dBodyID b);
 668 //void            (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
 669 //dGeomID         (ODE_API *dBodyGetFirstGeom)(dBodyID b);
 670 //dGeomID         (ODE_API *dBodyGetNextGeom)(dGeomID g);
 671 //void            (ODE_API *dBodySetDampingDefaults)(dBodyID b);
 672 //dReal           (ODE_API *dBodyGetLinearDamping)(dBodyID b);
 673 //void            (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
 674 //dReal           (ODE_API *dBodyGetAngularDamping)(dBodyID b);
 675 //void            (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
 676 //void            (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
 677 //dReal           (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
 678 //void            (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
 679 //dReal           (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
 680 //void            (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
 681 //dReal           (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
 682 //void            (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
 683 //int             (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
 684 //void            (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
 685 dJointID        (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
 686 dJointID        (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
 687 dJointID        (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
 688 dJointID        (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
 689 dJointID        (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
 690 dJointID        (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
 691 //dJointID        (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
 692 //dJointID        (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
 693 //dJointID        (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
 694 dJointID        (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
 695 //dJointID        (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
 696 //dJointID        (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
 697 //dJointID        (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
 698 //dJointID        (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
 699 void            (ODE_API *dJointDestroy)(dJointID);
 700 dJointGroupID   (ODE_API *dJointGroupCreate)(int max_size);
 701 void            (ODE_API *dJointGroupDestroy)(dJointGroupID);
 702 void            (ODE_API *dJointGroupEmpty)(dJointGroupID);
 703 //int             (ODE_API *dJointGetNumBodies)(dJointID);
 704 void            (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
 705 //void            (ODE_API *dJointEnable)(dJointID);
 706 //void            (ODE_API *dJointDisable)(dJointID);
 707 //int             (ODE_API *dJointIsEnabled)(dJointID);
 708 void            (ODE_API *dJointSetData)(dJointID, void *data);
 709 void *          (ODE_API *dJointGetData)(dJointID);
 710 //dJointType      (ODE_API *dJointGetType)(dJointID);
 711 dBodyID         (ODE_API *dJointGetBody)(dJointID, int index);
 712 //void            (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
 713 //dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
 714 void            (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
 715 //void            (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
 716 void            (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
 717 void            (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
 718 //void            (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
 719 void            (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
 720 //void            (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
 721 void            (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
 722 //void            (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
 723 void            (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
 724 //void            (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
 725 void            (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
 726 //void            (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
 727 void            (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
 728 void            (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
 729 void            (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
 730 void            (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
 731 //void            (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
 732 void            (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
 733 void            (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
 734 //void            (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
 735 void            (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
 736 //void            (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
 737 void            (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
 738 //void            (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
 739 //void            (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
 740 //void            (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
 741 //void            (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
 742 //void            (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
 743 //void            (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
 744 //void            (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
 745 //void            (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
 746 //void            (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
 747 //void            (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
 748 //void            (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
 749 //void            (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
 750 //void            (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
 751 //void            (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
 752 //void            (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
 753 //void            (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
 754 //void            (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
 755 //void            (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
 756 //void            (ODE_API *dJointSetFixed)(dJointID);
 757 //void            (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
 758 //void            (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
 759 //void            (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
 760 //void            (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
 761 //void            (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
 762 //void            (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
 763 //void            (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
 764 //void            (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
 765 //void            (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
 766 //void            (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
 767 //void            (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
 768 //void            (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
 769 //void            (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
 770 //void            (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
 771 //void            (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
 772 //dReal           (ODE_API *dJointGetBallParam)(dJointID, int parameter);
 773 //void            (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
 774 //void            (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
 775 //void            (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
 776 //dReal           (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
 777 //dReal           (ODE_API *dJointGetHingeAngle)(dJointID);
 778 //dReal           (ODE_API *dJointGetHingeAngleRate)(dJointID);
 779 //dReal           (ODE_API *dJointGetSliderPosition)(dJointID);
 780 //dReal           (ODE_API *dJointGetSliderPositionRate)(dJointID);
 781 //void            (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
 782 //dReal           (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
 783 //void            (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
 784 //void            (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
 785 //void            (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
 786 //void            (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
 787 //dReal           (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
 788 //dReal           (ODE_API *dJointGetHinge2Angle1)(dJointID);
 789 //dReal           (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
 790 //dReal           (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
 791 //void            (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
 792 //void            (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
 793 //void            (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
 794 //void            (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
 795 //dReal           (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
 796 //void            (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
 797 //dReal           (ODE_API *dJointGetUniversalAngle1)(dJointID);
 798 //dReal           (ODE_API *dJointGetUniversalAngle2)(dJointID);
 799 //dReal           (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
 800 //dReal           (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
 801 //void            (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
 802 //dReal           (ODE_API *dJointGetPRPosition)(dJointID);
 803 //dReal           (ODE_API *dJointGetPRPositionRate)(dJointID);
 804 //dReal           (ODE_API *dJointGetPRAngle)(dJointID);
 805 //dReal           (ODE_API *dJointGetPRAngleRate)(dJointID);
 806 //void            (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
 807 //void            (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
 808 //dReal           (ODE_API *dJointGetPRParam)(dJointID, int parameter);
 809 //void            (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
 810 //dReal           (ODE_API *dJointGetPUPosition)(dJointID);
 811 //dReal           (ODE_API *dJointGetPUPositionRate)(dJointID);
 812 //void            (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
 813 //void            (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
 814 //void            (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
 815 //void            (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
 816 //void            (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
 817 //dReal           (ODE_API *dJointGetPUAngle1)(dJointID);
 818 //dReal           (ODE_API *dJointGetPUAngle1Rate)(dJointID);
 819 //dReal           (ODE_API *dJointGetPUAngle2)(dJointID);
 820 //dReal           (ODE_API *dJointGetPUAngle2Rate)(dJointID);
 821 //dReal           (ODE_API *dJointGetPUParam)(dJointID, int parameter);
 822 //dReal           (ODE_API *dJointGetPistonPosition)(dJointID);
 823 //dReal           (ODE_API *dJointGetPistonPositionRate)(dJointID);
 824 //dReal           (ODE_API *dJointGetPistonAngle)(dJointID);
 825 //dReal           (ODE_API *dJointGetPistonAngleRate)(dJointID);
 826 //void            (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
 827 //void            (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
 828 //void            (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
 829 //dReal           (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
 830 //int             (ODE_API *dJointGetAMotorNumAxes)(dJointID);
 831 //void            (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
 832 //int             (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
 833 //dReal           (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
 834 //dReal           (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
 835 //dReal           (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
 836 //int             (ODE_API *dJointGetAMotorMode)(dJointID);
 837 //int             (ODE_API *dJointGetLMotorNumAxes)(dJointID);
 838 //void            (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
 839 //dReal           (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
 840 //dReal           (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
 841 //dJointID        (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
 842 //int             (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
 843 int             (ODE_API *dAreConnected)(dBodyID, dBodyID);
 844 int             (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
 845 //
 846 dSpaceID        (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
 847 dSpaceID        (ODE_API *dHashSpaceCreate)(dSpaceID space);
 848 dSpaceID        (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
 849 //dSpaceID        (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
 850 void            (ODE_API *dSpaceDestroy)(dSpaceID);
 851 //void            (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
 852 //void            (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
 853 //void            (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
 854 //int             (ODE_API *dSpaceGetCleanup)(dSpaceID space);
 855 //void            (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
 856 //int             (ODE_API *dSpaceGetSublevel)(dSpaceID space);
 857 //void            (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
 858 //int             (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
 859 //void            (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
 860 //void            (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
 861 //int             (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
 862 //void            (ODE_API *dSpaceClean)(dSpaceID);
 863 //int             (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
 864 //dGeomID         (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
 865 //int             (ODE_API *dSpaceGetClass)(dSpaceID space);
 866 //
 867 void            (ODE_API *dGeomDestroy)(dGeomID geom);
 868 void            (ODE_API *dGeomSetData)(dGeomID geom, void* data);
 869 void *          (ODE_API *dGeomGetData)(dGeomID geom);
 870 void            (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
 871 dBodyID         (ODE_API *dGeomGetBody)(dGeomID geom);
 872 void            (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 873 void            (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
 874 //void            (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
 875 //const dReal *   (ODE_API *dGeomGetPosition)(dGeomID geom);
 876 //void            (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
 877 //const dReal *   (ODE_API *dGeomGetRotation)(dGeomID geom);
 878 //void            (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
 879 //void            (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
 880 //void            (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
 881 int             (ODE_API *dGeomIsSpace)(dGeomID geom);
 882 //dSpaceID        (ODE_API *dGeomGetSpace)(dGeomID);
 883 //int             (ODE_API *dGeomGetClass)(dGeomID geom);
 884 //void            (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
 885 //void            (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
 886 //unsigned long   (ODE_API *dGeomGetCategoryBits)(dGeomID);
 887 //unsigned long   (ODE_API *dGeomGetCollideBits)(dGeomID);
 888 //void            (ODE_API *dGeomEnable)(dGeomID geom);
 889 //void            (ODE_API *dGeomDisable)(dGeomID geom);
 890 //int             (ODE_API *dGeomIsEnabled)(dGeomID geom);
 891 //void            (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 892 //void            (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
 893 //void            (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
 894 //void            (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
 895 //void            (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
 896 //void            (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
 897 //void            (ODE_API *dGeomClearOffset)(dGeomID geom);
 898 //int             (ODE_API *dGeomIsOffset)(dGeomID geom);
 899 //const dReal *   (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
 900 //void            (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
 901 //const dReal *   (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
 902 //void            (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
 903 //void            (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
 904 int             (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
 905 //
 906 void            (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
 907 void            (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
 908 //
 909 dGeomID         (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
 910 //void            (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
 911 //dReal           (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
 912 //dReal           (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
 913 //
 914 //dGeomID         (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
 915 //void            (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
 916 //
 917 dGeomID         (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
 918 //void            (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
 919 //void            (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
 920 //dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
 921 //dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
 922 //
 923 //dGeomID         (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
 924 //void            (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
 925 //void            (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
 926 //dReal           (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
 927 //
 928 dGeomID         (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
 929 //void            (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
 930 //void            (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
 931 //dReal           (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
 932 //
 933 //dGeomID         (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
 934 //void            (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
 935 //void            (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
 936 //
 937 //dGeomID         (ODE_API *dCreateRay)(dSpaceID space, dReal length);
 938 //void            (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
 939 //dReal           (ODE_API *dGeomRayGetLength)(dGeomID ray);
 940 //void            (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
 941 //void            (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
 942 //
 943 dGeomID         (ODE_API *dCreateGeomTransform)(dSpaceID space);
 944 void            (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
 945 //dGeomID         (ODE_API *dGeomTransformGetGeom)(dGeomID g);
 946 void            (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
 947 //int             (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
 948 //void            (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
 949 //int             (ODE_API *dGeomTransformGetInfo)(dGeomID g);
 950
 951 enum { TRIMESH_FACE_NORMALS };
 952 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
 953 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
 954 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
 955 typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
 956
 957 dTriMeshDataID  (ODE_API *dGeomTriMeshDataCreate)(void);
 958 void            (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
 959 //void            (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
 960 //void*           (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
 961 //void            (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
 962 //dReal*          (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
 963 void            (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
 964 //void            (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
 965 //void            (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
 966 //void            (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
 967 //void            (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
 968 //void            (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
 969 //void            (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
 970 //void            (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
 971 //void            (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
 972 //void            (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
 973 //dTriCallback*   (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
 974 //void            (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
 975 //dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
 976 //void            (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
 977 //dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
 978 //void            (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
 979 //dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
 980 dGeomID         (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
 981 //void            (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
 982 //dTriMeshDataID  (ODE_API *dGeomTriMeshGetData)(dGeomID g);
 983 //void            (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
 984 //int             (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
 985 //void            (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
 986 //dTriMeshDataID  (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
 987 //void            (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
 988 //void            (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
 989 //int             (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
 990 //void            (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);
 991
 992 static dllfunction_t odefuncs[] =
 993 {
 994 //      {"dGetConfiguration",                                                   (void **) &dGetConfiguration},
 995         {"dCheckConfiguration",                                                 (void **) &dCheckConfiguration},
 996         {"dInitODE",                                                                    (void **) &dInitODE},
 997 //      {"dInitODE2",                                                                   (void **) &dInitODE2},
 998 //      {"dAllocateODEDataForThread",                                   (void **) &dAllocateODEDataForThread},
 999 //      {"dCleanupODEAllDataForThread",                                 (void **) &dCleanupODEAllDataForThread},
1000         {"dCloseODE",                                                                   (void **) &dCloseODE},
1001 //      {"dMassCheck",                                                                  (void **) &dMassCheck},
1002 //      {"dMassSetZero",                                                                (void **) &dMassSetZero},
1003 //      {"dMassSetParameters",                                                  (void **) &dMassSetParameters},
1004 //      {"dMassSetSphere",                                                              (void **) &dMassSetSphere},
1005         {"dMassSetSphereTotal",                                                 (void **) &dMassSetSphereTotal},
1006 //      {"dMassSetCapsule",                                                             (void **) &dMassSetCapsule},
1007         {"dMassSetCapsuleTotal",                                                (void **) &dMassSetCapsuleTotal},
1008 //      {"dMassSetCylinder",                                                    (void **) &dMassSetCylinder},
1009 //      {"dMassSetCylinderTotal",                                               (void **) &dMassSetCylinderTotal},
1010 //      {"dMassSetBox",                                                                 (void **) &dMassSetBox},
1011         {"dMassSetBoxTotal",                                                    (void **) &dMassSetBoxTotal},
1012 //      {"dMassSetTrimesh",                                                             (void **) &dMassSetTrimesh},
1013 //      {"dMassSetTrimeshTotal",                                                (void **) &dMassSetTrimeshTotal},
1014 //      {"dMassAdjust",                                                                 (void **) &dMassAdjust},
1015 //      {"dMassTranslate",                                                              (void **) &dMassTranslate},
1016 //      {"dMassRotate",                                                                 (void **) &dMassRotate},
1017 //      {"dMassAdd",                                                                    (void **) &dMassAdd},
1018
1019         {"dWorldCreate",                                                                (void **) &dWorldCreate},
1020         {"dWorldDestroy",                                                               (void **) &dWorldDestroy},
1021         {"dWorldSetGravity",                                                    (void **) &dWorldSetGravity},
1022         {"dWorldGetGravity",                                                    (void **) &dWorldGetGravity},
1023         {"dWorldSetERP",                                                                (void **) &dWorldSetERP},
1024 //      {"dWorldGetERP",                                                                (void **) &dWorldGetERP},
1025         {"dWorldSetCFM",                                                                (void **) &dWorldSetCFM},
1026 //      {"dWorldGetCFM",                                                                (void **) &dWorldGetCFM},
1027         {"dWorldStep",                                                                  (void **) &dWorldStep},
1028 //      {"dWorldImpulseToForce",                                                (void **) &dWorldImpulseToForce},
1029         {"dWorldQuickStep",                                                             (void **) &dWorldQuickStep},
1030         {"dWorldSetQuickStepNumIterations",                             (void **) &dWorldSetQuickStepNumIterations},
1031 //      {"dWorldGetQuickStepNumIterations",                             (void **) &dWorldGetQuickStepNumIterations},
1032 //      {"dWorldSetQuickStepW",                                                 (void **) &dWorldSetQuickStepW},
1033 //      {"dWorldGetQuickStepW",                                                 (void **) &dWorldGetQuickStepW},
1034 //      {"dWorldSetContactMaxCorrectingVel",                    (void **) &dWorldSetContactMaxCorrectingVel},
1035 //      {"dWorldGetContactMaxCorrectingVel",                    (void **) &dWorldGetContactMaxCorrectingVel},
1036         {"dWorldSetContactSurfaceLayer",                                (void **) &dWorldSetContactSurfaceLayer},
1037 //      {"dWorldGetContactSurfaceLayer",                                (void **) &dWorldGetContactSurfaceLayer},
1038         {"dWorldStepFast1",                                                             (void **) &dWorldStepFast1},
1039 //      {"dWorldSetAutoEnableDepthSF1",                                 (void **) &dWorldSetAutoEnableDepthSF1},
1040 //      {"dWorldGetAutoEnableDepthSF1",                                 (void **) &dWorldGetAutoEnableDepthSF1},
1041 //      {"dWorldGetAutoDisableLinearThreshold",                 (void **) &dWorldGetAutoDisableLinearThreshold},
1042 //      {"dWorldSetAutoDisableLinearThreshold",                 (void **) &dWorldSetAutoDisableLinearThreshold},
1043 //      {"dWorldGetAutoDisableAngularThreshold",                (void **) &dWorldGetAutoDisableAngularThreshold},
1044 //      {"dWorldSetAutoDisableAngularThreshold",                (void **) &dWorldSetAutoDisableAngularThreshold},
1045 //      {"dWorldGetAutoDisableLinearAverageThreshold",  (void **) &dWorldGetAutoDisableLinearAverageThreshold},
1046 //      {"dWorldSetAutoDisableLinearAverageThreshold",  (void **) &dWorldSetAutoDisableLinearAverageThreshold},
1047 //      {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
1048 //      {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
1049 //      {"dWorldGetAutoDisableAverageSamplesCount",             (void **) &dWorldGetAutoDisableAverageSamplesCount},
1050 //      {"dWorldSetAutoDisableAverageSamplesCount",             (void **) &dWorldSetAutoDisableAverageSamplesCount},
1051 //      {"dWorldGetAutoDisableSteps",                                   (void **) &dWorldGetAutoDisableSteps},
1052 //      {"dWorldSetAutoDisableSteps",                                   (void **) &dWorldSetAutoDisableSteps},
1053 //      {"dWorldGetAutoDisableTime",                                    (void **) &dWorldGetAutoDisableTime},
1054 //      {"dWorldSetAutoDisableTime",                                    (void **) &dWorldSetAutoDisableTime},
1055 //      {"dWorldGetAutoDisableFlag",                                    (void **) &dWorldGetAutoDisableFlag},
1056 //      {"dWorldSetAutoDisableFlag",                                    (void **) &dWorldSetAutoDisableFlag},
1057 //      {"dWorldGetLinearDampingThreshold",                             (void **) &dWorldGetLinearDampingThreshold},
1058 //      {"dWorldSetLinearDampingThreshold",                             (void **) &dWorldSetLinearDampingThreshold},
1059 //      {"dWorldGetAngularDampingThreshold",                    (void **) &dWorldGetAngularDampingThreshold},
1060 //      {"dWorldSetAngularDampingThreshold",                    (void **) &dWorldSetAngularDampingThreshold},
1061 //      {"dWorldGetLinearDamping",                                              (void **) &dWorldGetLinearDamping},
1062 //      {"dWorldSetLinearDamping",                                              (void **) &dWorldSetLinearDamping},
1063 //      {"dWorldGetAngularDamping",                                             (void **) &dWorldGetAngularDamping},
1064 //      {"dWorldSetAngularDamping",                                             (void **) &dWorldSetAngularDamping},
1065 //      {"dWorldSetDamping",                                                    (void **) &dWorldSetDamping},
1066 //      {"dWorldGetMaxAngularSpeed",                                    (void **) &dWorldGetMaxAngularSpeed},
1067 //      {"dWorldSetMaxAngularSpeed",                                    (void **) &dWorldSetMaxAngularSpeed},
1068 //      {"dBodyGetAutoDisableLinearThreshold",                  (void **) &dBodyGetAutoDisableLinearThreshold},
1069 //      {"dBodySetAutoDisableLinearThreshold",                  (void **) &dBodySetAutoDisableLinearThreshold},
1070 //      {"dBodyGetAutoDisableAngularThreshold",                 (void **) &dBodyGetAutoDisableAngularThreshold},
1071 //      {"dBodySetAutoDisableAngularThreshold",                 (void **) &dBodySetAutoDisableAngularThreshold},
1072 //      {"dBodyGetAutoDisableAverageSamplesCount",              (void **) &dBodyGetAutoDisableAverageSamplesCount},
1073 //      {"dBodySetAutoDisableAverageSamplesCount",              (void **) &dBodySetAutoDisableAverageSamplesCount},
1074 //      {"dBodyGetAutoDisableSteps",                                    (void **) &dBodyGetAutoDisableSteps},
1075 //      {"dBodySetAutoDisableSteps",                                    (void **) &dBodySetAutoDisableSteps},
1076 //      {"dBodyGetAutoDisableTime",                                             (void **) &dBodyGetAutoDisableTime},
1077 //      {"dBodySetAutoDisableTime",                                             (void **) &dBodySetAutoDisableTime},
1078 //      {"dBodyGetAutoDisableFlag",                                             (void **) &dBodyGetAutoDisableFlag},
1079 //      {"dBodySetAutoDisableFlag",                                             (void **) &dBodySetAutoDisableFlag},
1080 //      {"dBodySetAutoDisableDefaults",                                 (void **) &dBodySetAutoDisableDefaults},
1081 //      {"dBodyGetWorld",                                                               (void **) &dBodyGetWorld},
1082         {"dBodyCreate",                                                                 (void **) &dBodyCreate},
1083         {"dBodyDestroy",                                                                (void **) &dBodyDestroy},
1084         {"dBodySetData",                                                                (void **) &dBodySetData},
1085         {"dBodyGetData",                                                                (void **) &dBodyGetData},
1086         {"dBodySetPosition",                                                    (void **) &dBodySetPosition},
1087         {"dBodySetRotation",                                                    (void **) &dBodySetRotation},
1088 //      {"dBodySetQuaternion",                                                  (void **) &dBodySetQuaternion},
1089         {"dBodySetLinearVel",                                                   (void **) &dBodySetLinearVel},
1090         {"dBodySetAngularVel",                                                  (void **) &dBodySetAngularVel},
1091         {"dBodyGetPosition",                                                    (void **) &dBodyGetPosition},
1092 //      {"dBodyCopyPosition",                                                   (void **) &dBodyCopyPosition},
1093         {"dBodyGetRotation",                                                    (void **) &dBodyGetRotation},
1094 //      {"dBodyCopyRotation",                                                   (void **) &dBodyCopyRotation},
1095 //      {"dBodyGetQuaternion",                                                  (void **) &dBodyGetQuaternion},
1096 //      {"dBodyCopyQuaternion",                                                 (void **) &dBodyCopyQuaternion},
1097         {"dBodyGetLinearVel",                                                   (void **) &dBodyGetLinearVel},
1098         {"dBodyGetAngularVel",                                                  (void **) &dBodyGetAngularVel},
1099         {"dBodySetMass",                                                                (void **) &dBodySetMass},
1100 //      {"dBodyGetMass",                                                                (void **) &dBodyGetMass},
1101 //      {"dBodyAddForce",                                                               (void **) &dBodyAddForce},
1102 //      {"dBodyAddTorque",                                                              (void **) &dBodyAddTorque},
1103 //      {"dBodyAddRelForce",                                                    (void **) &dBodyAddRelForce},
1104 //      {"dBodyAddRelTorque",                                                   (void **) &dBodyAddRelTorque},
1105 //      {"dBodyAddForceAtPos",                                                  (void **) &dBodyAddForceAtPos},
1106 //      {"dBodyAddForceAtRelPos",                                               (void **) &dBodyAddForceAtRelPos},
1107 //      {"dBodyAddRelForceAtPos",                                               (void **) &dBodyAddRelForceAtPos},
1108 //      {"dBodyAddRelForceAtRelPos",                                    (void **) &dBodyAddRelForceAtRelPos},
1109 //      {"dBodyGetForce",                                                               (void **) &dBodyGetForce},
1110 //      {"dBodyGetTorque",                                                              (void **) &dBodyGetTorque},
1111 //      {"dBodySetForce",                                                               (void **) &dBodySetForce},
1112 //      {"dBodySetTorque",                                                              (void **) &dBodySetTorque},
1113 //      {"dBodyGetRelPointPos",                                                 (void **) &dBodyGetRelPointPos},
1114 //      {"dBodyGetRelPointVel",                                                 (void **) &dBodyGetRelPointVel},
1115 //      {"dBodyGetPointVel",                                                    (void **) &dBodyGetPointVel},
1116 //      {"dBodyGetPosRelPoint",                                                 (void **) &dBodyGetPosRelPoint},
1117 //      {"dBodyVectorToWorld",                                                  (void **) &dBodyVectorToWorld},
1118 //      {"dBodyVectorFromWorld",                                                (void **) &dBodyVectorFromWorld},
1119 //      {"dBodySetFiniteRotationMode",                                  (void **) &dBodySetFiniteRotationMode},
1120 //      {"dBodySetFiniteRotationAxis",                                  (void **) &dBodySetFiniteRotationAxis},
1121 //      {"dBodyGetFiniteRotationMode",                                  (void **) &dBodyGetFiniteRotationMode},
1122 //      {"dBodyGetFiniteRotationAxis",                                  (void **) &dBodyGetFiniteRotationAxis},
1123         {"dBodyGetNumJoints",                                                   (void **) &dBodyGetNumJoints},
1124         {"dBodyGetJoint",                                                               (void **) &dBodyGetJoint},
1125 //      {"dBodySetDynamic",                                                             (void **) &dBodySetDynamic},
1126 //      {"dBodySetKinematic",                                                   (void **) &dBodySetKinematic},
1127 //      {"dBodyIsKinematic",                                                    (void **) &dBodyIsKinematic},
1128 //      {"dBodyEnable",                                                                 (void **) &dBodyEnable},
1129 //      {"dBodyDisable",                                                                (void **) &dBodyDisable},
1130 //      {"dBodyIsEnabled",                                                              (void **) &dBodyIsEnabled},
1131         {"dBodySetGravityMode",                                                 (void **) &dBodySetGravityMode},
1132         {"dBodyGetGravityMode",                                                 (void **) &dBodyGetGravityMode},
1133 //      {"dBodySetMovedCallback",                                               (void **) &dBodySetMovedCallback},
1134 //      {"dBodyGetFirstGeom",                                                   (void **) &dBodyGetFirstGeom},
1135 //      {"dBodyGetNextGeom",                                                    (void **) &dBodyGetNextGeom},
1136 //      {"dBodySetDampingDefaults",                                             (void **) &dBodySetDampingDefaults},
1137 //      {"dBodyGetLinearDamping",                                               (void **) &dBodyGetLinearDamping},
1138 //      {"dBodySetLinearDamping",                                               (void **) &dBodySetLinearDamping},
1139 //      {"dBodyGetAngularDamping",                                              (void **) &dBodyGetAngularDamping},
1140 //      {"dBodySetAngularDamping",                                              (void **) &dBodySetAngularDamping},
1141 //      {"dBodySetDamping",                                                             (void **) &dBodySetDamping},
1142 //      {"dBodyGetLinearDampingThreshold",                              (void **) &dBodyGetLinearDampingThreshold},
1143 //      {"dBodySetLinearDampingThreshold",                              (void **) &dBodySetLinearDampingThreshold},
1144 //      {"dBodyGetAngularDampingThreshold",                             (void **) &dBodyGetAngularDampingThreshold},
1145 //      {"dBodySetAngularDampingThreshold",                             (void **) &dBodySetAngularDampingThreshold},
1146 //      {"dBodyGetMaxAngularSpeed",                                             (void **) &dBodyGetMaxAngularSpeed},
1147 //      {"dBodySetMaxAngularSpeed",                                             (void **) &dBodySetMaxAngularSpeed},
1148 //      {"dBodyGetGyroscopicMode",                                              (void **) &dBodyGetGyroscopicMode},
1149 //      {"dBodySetGyroscopicMode",                                              (void **) &dBodySetGyroscopicMode},
1150         {"dJointCreateBall",                                                    (void **) &dJointCreateBall},
1151         {"dJointCreateHinge",                                                   (void **) &dJointCreateHinge},
1152         {"dJointCreateSlider",                                                  (void **) &dJointCreateSlider},
1153         {"dJointCreateContact",                                                 (void **) &dJointCreateContact},
1154         {"dJointCreateHinge2",                                                  (void **) &dJointCreateHinge2},
1155         {"dJointCreateUniversal",                                               (void **) &dJointCreateUniversal},
1156 //      {"dJointCreatePR",                                                              (void **) &dJointCreatePR},
1157 //      {"dJointCreatePU",                                                              (void **) &dJointCreatePU},
1158 //      {"dJointCreatePiston",                                                  (void **) &dJointCreatePiston},
1159         {"dJointCreateFixed",                                                   (void **) &dJointCreateFixed},
1160 //      {"dJointCreateNull",                                                    (void **) &dJointCreateNull},
1161 //      {"dJointCreateAMotor",                                                  (void **) &dJointCreateAMotor},
1162 //      {"dJointCreateLMotor",                                                  (void **) &dJointCreateLMotor},
1163 //      {"dJointCreatePlane2D",                                                 (void **) &dJointCreatePlane2D},
1164         {"dJointDestroy",                                                               (void **) &dJointDestroy},
1165         {"dJointGroupCreate",                                                   (void **) &dJointGroupCreate},
1166         {"dJointGroupDestroy",                                                  (void **) &dJointGroupDestroy},
1167         {"dJointGroupEmpty",                                                    (void **) &dJointGroupEmpty},
1168 //      {"dJointGetNumBodies",                                                  (void **) &dJointGetNumBodies},
1169         {"dJointAttach",                                                                (void **) &dJointAttach},
1170 //      {"dJointEnable",                                                                (void **) &dJointEnable},
1171 //      {"dJointDisable",                                                               (void **) &dJointDisable},
1172 //      {"dJointIsEnabled",                                                             (void **) &dJointIsEnabled},
1173         {"dJointSetData",                                                               (void **) &dJointSetData},
1174         {"dJointGetData",                                                               (void **) &dJointGetData},
1175 //      {"dJointGetType",                                                               (void **) &dJointGetType},
1176         {"dJointGetBody",                                                               (void **) &dJointGetBody},
1177 //      {"dJointSetFeedback",                                                   (void **) &dJointSetFeedback},
1178 //      {"dJointGetFeedback",                                                   (void **) &dJointGetFeedback},
1179         {"dJointSetBallAnchor",                                                 (void **) &dJointSetBallAnchor},
1180 //      {"dJointSetBallAnchor2",                                                (void **) &dJointSetBallAnchor2},
1181         {"dJointSetBallParam",                                                  (void **) &dJointSetBallParam},
1182         {"dJointSetHingeAnchor",                                                (void **) &dJointSetHingeAnchor},
1183 //      {"dJointSetHingeAnchorDelta",                                   (void **) &dJointSetHingeAnchorDelta},
1184         {"dJointSetHingeAxis",                                                  (void **) &dJointSetHingeAxis},
1185 //      {"dJointSetHingeAxisOffset",                                    (void **) &dJointSetHingeAxisOffset},
1186         {"dJointSetHingeParam",                                                 (void **) &dJointSetHingeParam},
1187 //      {"dJointAddHingeTorque",                                                (void **) &dJointAddHingeTorque},
1188         {"dJointSetSliderAxis",                                                 (void **) &dJointSetSliderAxis},
1189 //      {"dJointSetSliderAxisDelta",                                    (void **) &dJointSetSliderAxisDelta},
1190         {"dJointSetSliderParam",                                                (void **) &dJointSetSliderParam},
1191 //      {"dJointAddSliderForce",                                                (void **) &dJointAddSliderForce},
1192         {"dJointSetHinge2Anchor",                                               (void **) &dJointSetHinge2Anchor},
1193         {"dJointSetHinge2Axis1",                                                (void **) &dJointSetHinge2Axis1},
1194         {"dJointSetHinge2Axis2",                                                (void **) &dJointSetHinge2Axis2},
1195         {"dJointSetHinge2Param",                                                (void **) &dJointSetHinge2Param},
1196 //      {"dJointAddHinge2Torques",                                              (void **) &dJointAddHinge2Torques},
1197         {"dJointSetUniversalAnchor",                                    (void **) &dJointSetUniversalAnchor},
1198         {"dJointSetUniversalAxis1",                                             (void **) &dJointSetUniversalAxis1},
1199 //      {"dJointSetUniversalAxis1Offset",                               (void **) &dJointSetUniversalAxis1Offset},
1200         {"dJointSetUniversalAxis2",                                             (void **) &dJointSetUniversalAxis2},
1201 //      {"dJointSetUniversalAxis2Offset",                               (void **) &dJointSetUniversalAxis2Offset},
1202         {"dJointSetUniversalParam",                                             (void **) &dJointSetUniversalParam},
1203 //      {"dJointAddUniversalTorques",                                   (void **) &dJointAddUniversalTorques},
1204 //      {"dJointSetPRAnchor",                                                   (void **) &dJointSetPRAnchor},
1205 //      {"dJointSetPRAxis1",                                                    (void **) &dJointSetPRAxis1},
1206 //      {"dJointSetPRAxis2",                                                    (void **) &dJointSetPRAxis2},
1207 //      {"dJointSetPRParam",                                                    (void **) &dJointSetPRParam},
1208 //      {"dJointAddPRTorque",                                                   (void **) &dJointAddPRTorque},
1209 //      {"dJointSetPUAnchor",                                                   (void **) &dJointSetPUAnchor},
1210 //      {"dJointSetPUAnchorOffset",                                             (void **) &dJointSetPUAnchorOffset},
1211 //      {"dJointSetPUAxis1",                                                    (void **) &dJointSetPUAxis1},
1212 //      {"dJointSetPUAxis2",                                                    (void **) &dJointSetPUAxis2},
1213 //      {"dJointSetPUAxis3",                                                    (void **) &dJointSetPUAxis3},
1214 //      {"dJointSetPUAxisP",                                                    (void **) &dJointSetPUAxisP},
1215 //      {"dJointSetPUParam",                                                    (void **) &dJointSetPUParam},
1216 //      {"dJointAddPUTorque",                                                   (void **) &dJointAddPUTorque},
1217 //      {"dJointSetPistonAnchor",                                               (void **) &dJointSetPistonAnchor},
1218 //      {"dJointSetPistonAnchorOffset",                                 (void **) &dJointSetPistonAnchorOffset},
1219 //      {"dJointSetPistonParam",                                                (void **) &dJointSetPistonParam},
1220 //      {"dJointAddPistonForce",                                                (void **) &dJointAddPistonForce},
1221 //      {"dJointSetFixed",                                                              (void **) &dJointSetFixed},
1222 //      {"dJointSetFixedParam",                                                 (void **) &dJointSetFixedParam},
1223 //      {"dJointSetAMotorNumAxes",                                              (void **) &dJointSetAMotorNumAxes},
1224 //      {"dJointSetAMotorAxis",                                                 (void **) &dJointSetAMotorAxis},
1225 //      {"dJointSetAMotorAngle",                                                (void **) &dJointSetAMotorAngle},
1226 //      {"dJointSetAMotorParam",                                                (void **) &dJointSetAMotorParam},
1227 //      {"dJointSetAMotorMode",                                                 (void **) &dJointSetAMotorMode},
1228 //      {"dJointAddAMotorTorques",                                              (void **) &dJointAddAMotorTorques},
1229 //      {"dJointSetLMotorNumAxes",                                              (void **) &dJointSetLMotorNumAxes},
1230 //      {"dJointSetLMotorAxis",                                                 (void **) &dJointSetLMotorAxis},
1231 //      {"dJointSetLMotorParam",                                                (void **) &dJointSetLMotorParam},
1232 //      {"dJointSetPlane2DXParam",                                              (void **) &dJointSetPlane2DXParam},
1233 //      {"dJointSetPlane2DYParam",                                              (void **) &dJointSetPlane2DYParam},
1234 //      {"dJointSetPlane2DAngleParam",                                  (void **) &dJointSetPlane2DAngleParam},
1235 //      {"dJointGetBallAnchor",                                                 (void **) &dJointGetBallAnchor},
1236 //      {"dJointGetBallAnchor2",                                                (void **) &dJointGetBallAnchor2},
1237 //      {"dJointGetBallParam",                                                  (void **) &dJointGetBallParam},
1238 //      {"dJointGetHingeAnchor",                                                (void **) &dJointGetHingeAnchor},
1239 //      {"dJointGetHingeAnchor2",                                               (void **) &dJointGetHingeAnchor2},
1240 //      {"dJointGetHingeAxis",                                                  (void **) &dJointGetHingeAxis},
1241 //      {"dJointGetHingeParam",                                                 (void **) &dJointGetHingeParam},
1242 //      {"dJointGetHingeAngle",                                                 (void **) &dJointGetHingeAngle},
1243 //      {"dJointGetHingeAngleRate",                                             (void **) &dJointGetHingeAngleRate},
1244 //      {"dJointGetSliderPosition",                                             (void **) &dJointGetSliderPosition},
1245 //      {"dJointGetSliderPositionRate",                                 (void **) &dJointGetSliderPositionRate},
1246 //      {"dJointGetSliderAxis",                                                 (void **) &dJointGetSliderAxis},
1247 //      {"dJointGetSliderParam",                                                (void **) &dJointGetSliderParam},
1248 //      {"dJointGetHinge2Anchor",                                               (void **) &dJointGetHinge2Anchor},
1249 //      {"dJointGetHinge2Anchor2",                                              (void **) &dJointGetHinge2Anchor2},
1250 //      {"dJointGetHinge2Axis1",                                                (void **) &dJointGetHinge2Axis1},
1251 //      {"dJointGetHinge2Axis2",                                                (void **) &dJointGetHinge2Axis2},
1252 //      {"dJointGetHinge2Param",                                                (void **) &dJointGetHinge2Param},
1253 //      {"dJointGetHinge2Angle1",                                               (void **) &dJointGetHinge2Angle1},
1254 //      {"dJointGetHinge2Angle1Rate",                                   (void **) &dJointGetHinge2Angle1Rate},
1255 //      {"dJointGetHinge2Angle2Rate",                                   (void **) &dJointGetHinge2Angle2Rate},
1256 //      {"dJointGetUniversalAnchor",                                    (void **) &dJointGetUniversalAnchor},
1257 //      {"dJointGetUniversalAnchor2",                                   (void **) &dJointGetUniversalAnchor2},
1258 //      {"dJointGetUniversalAxis1",                                             (void **) &dJointGetUniversalAxis1},
1259 //      {"dJointGetUniversalAxis2",                                             (void **) &dJointGetUniversalAxis2},
1260 //      {"dJointGetUniversalParam",                                             (void **) &dJointGetUniversalParam},
1261 //      {"dJointGetUniversalAngles",                                    (void **) &dJointGetUniversalAngles},
1262 //      {"dJointGetUniversalAngle1",                                    (void **) &dJointGetUniversalAngle1},
1263 //      {"dJointGetUniversalAngle2",                                    (void **) &dJointGetUniversalAngle2},
1264 //      {"dJointGetUniversalAngle1Rate",                                (void **) &dJointGetUniversalAngle1Rate},
1265 //      {"dJointGetUniversalAngle2Rate",                                (void **) &dJointGetUniversalAngle2Rate},
1266 //      {"dJointGetPRAnchor",                                                   (void **) &dJointGetPRAnchor},
1267 //      {"dJointGetPRPosition",                                                 (void **) &dJointGetPRPosition},
1268 //      {"dJointGetPRPositionRate",                                             (void **) &dJointGetPRPositionRate},
1269 //      {"dJointGetPRAngle",                                                    (void **) &dJointGetPRAngle},
1270 //      {"dJointGetPRAngleRate",                                                (void **) &dJointGetPRAngleRate},
1271 //      {"dJointGetPRAxis1",                                                    (void **) &dJointGetPRAxis1},
1272 //      {"dJointGetPRAxis2",                                                    (void **) &dJointGetPRAxis2},
1273 //      {"dJointGetPRParam",                                                    (void **) &dJointGetPRParam},
1274 //      {"dJointGetPUAnchor",                                                   (void **) &dJointGetPUAnchor},
1275 //      {"dJointGetPUPosition",                                                 (void **) &dJointGetPUPosition},
1276 //      {"dJointGetPUPositionRate",                                             (void **) &dJointGetPUPositionRate},
1277 //      {"dJointGetPUAxis1",                                                    (void **) &dJointGetPUAxis1},
1278 //      {"dJointGetPUAxis2",                                                    (void **) &dJointGetPUAxis2},
1279 //      {"dJointGetPUAxis3",                                                    (void **) &dJointGetPUAxis3},
1280 //      {"dJointGetPUAxisP",                                                    (void **) &dJointGetPUAxisP},
1281 //      {"dJointGetPUAngles",                                                   (void **) &dJointGetPUAngles},
1282 //      {"dJointGetPUAngle1",                                                   (void **) &dJointGetPUAngle1},
1283 //      {"dJointGetPUAngle1Rate",                                               (void **) &dJointGetPUAngle1Rate},
1284 //      {"dJointGetPUAngle2",                                                   (void **) &dJointGetPUAngle2},
1285 //      {"dJointGetPUAngle2Rate",                                               (void **) &dJointGetPUAngle2Rate},
1286 //      {"dJointGetPUParam",                                                    (void **) &dJointGetPUParam},
1287 //      {"dJointGetPistonPosition",                                             (void **) &dJointGetPistonPosition},
1288 //      {"dJointGetPistonPositionRate",                                 (void **) &dJointGetPistonPositionRate},
1289 //      {"dJointGetPistonAngle",                                                (void **) &dJointGetPistonAngle},
1290 //      {"dJointGetPistonAngleRate",                                    (void **) &dJointGetPistonAngleRate},
1291 //      {"dJointGetPistonAnchor",                                               (void **) &dJointGetPistonAnchor},
1292 //      {"dJointGetPistonAnchor2",                                              (void **) &dJointGetPistonAnchor2},
1293 //      {"dJointGetPistonAxis",                                                 (void **) &dJointGetPistonAxis},
1294 //      {"dJointGetPistonParam",                                                (void **) &dJointGetPistonParam},
1295 //      {"dJointGetAMotorNumAxes",                                              (void **) &dJointGetAMotorNumAxes},
1296 //      {"dJointGetAMotorAxis",                                                 (void **) &dJointGetAMotorAxis},
1297 //      {"dJointGetAMotorAxisRel",                                              (void **) &dJointGetAMotorAxisRel},
1298 //      {"dJointGetAMotorAngle",                                                (void **) &dJointGetAMotorAngle},
1299 //      {"dJointGetAMotorAngleRate",                                    (void **) &dJointGetAMotorAngleRate},
1300 //      {"dJointGetAMotorParam",                                                (void **) &dJointGetAMotorParam},
1301 //      {"dJointGetAMotorMode",                                                 (void **) &dJointGetAMotorMode},
1302 //      {"dJointGetLMotorNumAxes",                                              (void **) &dJointGetLMotorNumAxes},
1303 //      {"dJointGetLMotorAxis",                                                 (void **) &dJointGetLMotorAxis},
1304 //      {"dJointGetLMotorParam",                                                (void **) &dJointGetLMotorParam},
1305 //      {"dJointGetFixedParam",                                                 (void **) &dJointGetFixedParam},
1306 //      {"dConnectingJoint",                                                    (void **) &dConnectingJoint},
1307 //      {"dConnectingJointList",                                                (void **) &dConnectingJointList},
1308         {"dAreConnected",                                                               (void **) &dAreConnected},
1309         {"dAreConnectedExcluding",                                              (void **) &dAreConnectedExcluding},
1310         {"dSimpleSpaceCreate",                                                  (void **) &dSimpleSpaceCreate},
1311         {"dHashSpaceCreate",                                                    (void **) &dHashSpaceCreate},
1312         {"dQuadTreeSpaceCreate",                                                (void **) &dQuadTreeSpaceCreate},
1313 //      {"dSweepAndPruneSpaceCreate",                                   (void **) &dSweepAndPruneSpaceCreate},
1314         {"dSpaceDestroy",                                                               (void **) &dSpaceDestroy},
1315 //      {"dHashSpaceSetLevels",                                                 (void **) &dHashSpaceSetLevels},
1316 //      {"dHashSpaceGetLevels",                                                 (void **) &dHashSpaceGetLevels},
1317 //      {"dSpaceSetCleanup",                                                    (void **) &dSpaceSetCleanup},
1318 //      {"dSpaceGetCleanup",                                                    (void **) &dSpaceGetCleanup},
1319 //      {"dSpaceSetSublevel",                                                   (void **) &dSpaceSetSublevel},
1320 //      {"dSpaceGetSublevel",                                                   (void **) &dSpaceGetSublevel},
1321 //      {"dSpaceSetManualCleanup",                                              (void **) &dSpaceSetManualCleanup},
1322 //      {"dSpaceGetManualCleanup",                                              (void **) &dSpaceGetManualCleanup},
1323 //      {"dSpaceAdd",                                                                   (void **) &dSpaceAdd},
1324 //      {"dSpaceRemove",                                                                (void **) &dSpaceRemove},
1325 //      {"dSpaceQuery",                                                                 (void **) &dSpaceQuery},
1326 //      {"dSpaceClean",                                                                 (void **) &dSpaceClean},
1327 //      {"dSpaceGetNumGeoms",                                                   (void **) &dSpaceGetNumGeoms},
1328 //      {"dSpaceGetGeom",                                                               (void **) &dSpaceGetGeom},
1329 //      {"dSpaceGetClass",                                                              (void **) &dSpaceGetClass},
1330         {"dGeomDestroy",                                                                (void **) &dGeomDestroy},
1331         {"dGeomSetData",                                                                (void **) &dGeomSetData},
1332         {"dGeomGetData",                                                                (void **) &dGeomGetData},
1333         {"dGeomSetBody",                                                                (void **) &dGeomSetBody},
1334         {"dGeomGetBody",                                                                (void **) &dGeomGetBody},
1335         {"dGeomSetPosition",                                                    (void **) &dGeomSetPosition},
1336         {"dGeomSetRotation",                                                    (void **) &dGeomSetRotation},
1337 //      {"dGeomSetQuaternion",                                                  (void **) &dGeomSetQuaternion},
1338 //      {"dGeomGetPosition",                                                    (void **) &dGeomGetPosition},
1339 //      {"dGeomCopyPosition",                                                   (void **) &dGeomCopyPosition},
1340 //      {"dGeomGetRotation",                                                    (void **) &dGeomGetRotation},
1341 //      {"dGeomCopyRotation",                                                   (void **) &dGeomCopyRotation},
1342 //      {"dGeomGetQuaternion",                                                  (void **) &dGeomGetQuaternion},
1343 //      {"dGeomGetAABB",                                                                (void **) &dGeomGetAABB},
1344         {"dGeomIsSpace",                                                                (void **) &dGeomIsSpace},
1345 //      {"dGeomGetSpace",                                                               (void **) &dGeomGetSpace},
1346 //      {"dGeomGetClass",                                                               (void **) &dGeomGetClass},
1347 //      {"dGeomSetCategoryBits",                                                (void **) &dGeomSetCategoryBits},
1348 //      {"dGeomSetCollideBits",                                                 (void **) &dGeomSetCollideBits},
1349 //      {"dGeomGetCategoryBits",                                                (void **) &dGeomGetCategoryBits},
1350 //      {"dGeomGetCollideBits",                                                 (void **) &dGeomGetCollideBits},
1351 //      {"dGeomEnable",                                                                 (void **) &dGeomEnable},
1352 //      {"dGeomDisable",                                                                (void **) &dGeomDisable},
1353 //      {"dGeomIsEnabled",                                                              (void **) &dGeomIsEnabled},
1354 //      {"dGeomSetOffsetPosition",                                              (void **) &dGeomSetOffsetPosition},
1355 //      {"dGeomSetOffsetRotation",                                              (void **) &dGeomSetOffsetRotation},
1356 //      {"dGeomSetOffsetQuaternion",                                    (void **) &dGeomSetOffsetQuaternion},
1357 //      {"dGeomSetOffsetWorldPosition",                                 (void **) &dGeomSetOffsetWorldPosition},
1358 //      {"dGeomSetOffsetWorldRotation",                                 (void **) &dGeomSetOffsetWorldRotation},
1359 //      {"dGeomSetOffsetWorldQuaternion",                               (void **) &dGeomSetOffsetWorldQuaternion},
1360 //      {"dGeomClearOffset",                                                    (void **) &dGeomClearOffset},
1361 //      {"dGeomIsOffset",                                                               (void **) &dGeomIsOffset},
1362 //      {"dGeomGetOffsetPosition",                                              (void **) &dGeomGetOffsetPosition},
1363 //      {"dGeomCopyOffsetPosition",                                             (void **) &dGeomCopyOffsetPosition},
1364 //      {"dGeomGetOffsetRotation",                                              (void **) &dGeomGetOffsetRotation},
1365 //      {"dGeomCopyOffsetRotation",                                             (void **) &dGeomCopyOffsetRotation},
1366 //      {"dGeomGetOffsetQuaternion",                                    (void **) &dGeomGetOffsetQuaternion},
1367         {"dCollide",                                                                    (void **) &dCollide},
1368         {"dSpaceCollide",                                                               (void **) &dSpaceCollide},
1369         {"dSpaceCollide2",                                                              (void **) &dSpaceCollide2},
1370         {"dCreateSphere",                                                               (void **) &dCreateSphere},
1371 //      {"dGeomSphereSetRadius",                                                (void **) &dGeomSphereSetRadius},
1372 //      {"dGeomSphereGetRadius",                                                (void **) &dGeomSphereGetRadius},
1373 //      {"dGeomSpherePointDepth",                                               (void **) &dGeomSpherePointDepth},
1374 //      {"dCreateConvex",                                                               (void **) &dCreateConvex},
1375 //      {"dGeomSetConvex",                                                              (void **) &dGeomSetConvex},
1376         {"dCreateBox",                                                                  (void **) &dCreateBox},
1377 //      {"dGeomBoxSetLengths",                                                  (void **) &dGeomBoxSetLengths},
1378 //      {"dGeomBoxGetLengths",                                                  (void **) &dGeomBoxGetLengths},
1379 //      {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
1380 //      {"dGeomBoxPointDepth",                                                  (void **) &dGeomBoxPointDepth},
1381 //      {"dCreatePlane",                                                                (void **) &dCreatePlane},
1382 //      {"dGeomPlaneSetParams",                                                 (void **) &dGeomPlaneSetParams},
1383 //      {"dGeomPlaneGetParams",                                                 (void **) &dGeomPlaneGetParams},
1384 //      {"dGeomPlanePointDepth",                                                (void **) &dGeomPlanePointDepth},
1385         {"dCreateCapsule",                                                              (void **) &dCreateCapsule},
1386 //      {"dGeomCapsuleSetParams",                                               (void **) &dGeomCapsuleSetParams},
1387 //      {"dGeomCapsuleGetParams",                                               (void **) &dGeomCapsuleGetParams},
1388 //      {"dGeomCapsulePointDepth",                                              (void **) &dGeomCapsulePointDepth},
1389 //      {"dCreateCylinder",                                                             (void **) &dCreateCylinder},
1390 //      {"dGeomCylinderSetParams",                                              (void **) &dGeomCylinderSetParams},
1391 //      {"dGeomCylinderGetParams",                                              (void **) &dGeomCylinderGetParams},
1392 //      {"dCreateRay",                                                                  (void **) &dCreateRay},
1393 //      {"dGeomRaySetLength",                                                   (void **) &dGeomRaySetLength},
1394 //      {"dGeomRayGetLength",                                                   (void **) &dGeomRayGetLength},
1395 //      {"dGeomRaySet",                                                                 (void **) &dGeomRaySet},
1396 //      {"dGeomRayGet",                                                                 (void **) &dGeomRayGet},
1397         {"dCreateGeomTransform",                                                (void **) &dCreateGeomTransform},
1398         {"dGeomTransformSetGeom",                                               (void **) &dGeomTransformSetGeom},
1399 //      {"dGeomTransformGetGeom",                                               (void **) &dGeomTransformGetGeom},
1400         {"dGeomTransformSetCleanup",                                    (void **) &dGeomTransformSetCleanup},
1401 //      {"dGeomTransformGetCleanup",                                    (void **) &dGeomTransformGetCleanup},
1402 //      {"dGeomTransformSetInfo",                                               (void **) &dGeomTransformSetInfo},
1403 //      {"dGeomTransformGetInfo",                                               (void **) &dGeomTransformGetInfo},
1404         {"dGeomTriMeshDataCreate",                      (void **) &dGeomTriMeshDataCreate},
1405         {"dGeomTriMeshDataDestroy",                     (void **) &dGeomTriMeshDataDestroy},
1406 //      {"dGeomTriMeshDataSet",                         (void **) &dGeomTriMeshDataSet},
1407 //      {"dGeomTriMeshDataGet",                         (void **) &dGeomTriMeshDataGet},
1408 //      {"dGeomTriMeshSetLastTransform",                (void **) &dGeomTriMeshSetLastTransform},
1409 //      {"dGeomTriMeshGetLastTransform",                (void **) &dGeomTriMeshGetLastTransform},
1410         {"dGeomTriMeshDataBuildSingle",                 (void **) &dGeomTriMeshDataBuildSingle},
1411 //      {"dGeomTriMeshDataBuildSingle1",                (void **) &dGeomTriMeshDataBuildSingle1},
1412 //      {"dGeomTriMeshDataBuildDouble",                 (void **) &dGeomTriMeshDataBuildDouble},
1413 //      {"dGeomTriMeshDataBuildDouble1",                (void **) &dGeomTriMeshDataBuildDouble1},
1414 //      {"dGeomTriMeshDataBuildSimple",                 (void **) &dGeomTriMeshDataBuildSimple},
1415 //      {"dGeomTriMeshDataBuildSimple1",                (void **) &dGeomTriMeshDataBuildSimple1},
1416 //      {"dGeomTriMeshDataPreprocess",                  (void **) &dGeomTriMeshDataPreprocess},
1417 //      {"dGeomTriMeshDataGetBuffer",                   (void **) &dGeomTriMeshDataGetBuffer},
1418 //      {"dGeomTriMeshDataSetBuffer",                   (void **) &dGeomTriMeshDataSetBuffer},
1419 //      {"dGeomTriMeshSetCallback",                     (void **) &dGeomTriMeshSetCallback},
1420 //      {"dGeomTriMeshGetCallback",                     (void **) &dGeomTriMeshGetCallback},
1421 //      {"dGeomTriMeshSetArrayCallback",                (void **) &dGeomTriMeshSetArrayCallback},
1422 //      {"dGeomTriMeshGetArrayCallback",                (void **) &dGeomTriMeshGetArrayCallback},
1423 //      {"dGeomTriMeshSetRayCallback",                  (void **) &dGeomTriMeshSetRayCallback},
1424 //      {"dGeomTriMeshGetRayCallback",                  (void **) &dGeomTriMeshGetRayCallback},
1425 //      {"dGeomTriMeshSetTriMergeCallback",             (void **) &dGeomTriMeshSetTriMergeCallback},
1426 //      {"dGeomTriMeshGetTriMergeCallback",             (void **) &dGeomTriMeshGetTriMergeCallback},
1427         {"dCreateTriMesh",                              (void **) &dCreateTriMesh},
1428 //      {"dGeomTriMeshSetData",                         (void **) &dGeomTriMeshSetData},
1429 //      {"dGeomTriMeshGetData",                         (void **) &dGeomTriMeshGetData},
1430 //      {"dGeomTriMeshEnableTC",                        (void **) &dGeomTriMeshEnableTC},
1431 //      {"dGeomTriMeshIsTCEnabled",                     (void **) &dGeomTriMeshIsTCEnabled},
1432 //      {"dGeomTriMeshClearTCCache",                    (void **) &dGeomTriMeshClearTCCache},
1433 //      {"dGeomTriMeshGetTriMeshDataID",                (void **) &dGeomTriMeshGetTriMeshDataID},
1434 //      {"dGeomTriMeshGetTriangle",                     (void **) &dGeomTriMeshGetTriangle},
1435 //      {"dGeomTriMeshGetPoint",                        (void **) &dGeomTriMeshGetPoint},
1436 //      {"dGeomTriMeshGetTriangleCount",                (void **) &dGeomTriMeshGetTriangleCount},
1437 //      {"dGeomTriMeshDataUpdate",                      (void **) &dGeomTriMeshDataUpdate},
1438         {NULL, NULL}
1439 };
1440
1441 // Handle for ODE DLL
1442 dllhandle_t ode_dll = NULL;
1443 #endif
1444 #endif
1445
1446 static void World_Physics_Init(void)
1447 {
1448 #ifdef USEODE
1449 #ifdef ODE_DYNAMIC
1450         const char* dllnames [] =
1451         {
1452 # if defined(WIN32)
1453                 "libode1.dll",
1454 # elif defined(MACOSX)
1455                 "libode.1.dylib",
1456 # else
1457                 "libode.so.1",
1458 # endif
1459                 NULL
1460         };
1461 #endif
1462
1463         Cvar_RegisterVariable(&physics_ode_quadtree_depth);
1464         Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
1465         Cvar_RegisterVariable(&physics_ode_worldquickstep);
1466         Cvar_RegisterVariable(&physics_ode_worldquickstep_iterations);
1467         Cvar_RegisterVariable(&physics_ode_worldstepfast);
1468         Cvar_RegisterVariable(&physics_ode_worldstepfast_iterations);
1469         Cvar_RegisterVariable(&physics_ode_contact_mu);
1470         Cvar_RegisterVariable(&physics_ode_contact_erp);
1471         Cvar_RegisterVariable(&physics_ode_contact_cfm);
1472         Cvar_RegisterVariable(&physics_ode_world_erp);
1473         Cvar_RegisterVariable(&physics_ode_world_cfm);
1474         Cvar_RegisterVariable(&physics_ode_iterationsperframe);
1475         Cvar_RegisterVariable(&physics_ode_movelimit);
1476         Cvar_RegisterVariable(&physics_ode_spinlimit);
1477
1478 #ifdef ODE_DYNAMIC
1479         // Load the DLL
1480         if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
1481 #endif
1482         {
1483                 dInitODE();
1484 //              dInitODE2(0);
1485 #ifdef ODE_DYNAMIC
1486 # ifdef dSINGLE
1487                 if (!dCheckConfiguration("ODE_single_precision"))
1488 # else
1489                 if (!dCheckConfiguration("ODE_double_precision"))
1490 # endif
1491                 {
1492 # ifdef dSINGLE
1493                         Con_Printf("ode library not compiled for single precision - incompatible!  Not using ODE physics.\n");
1494 # else
1495                         Con_Printf("ode library not compiled for double precision - incompatible!  Not using ODE physics.\n");
1496 # endif
1497                         Sys_UnloadLibrary(&ode_dll);
1498                         ode_dll = NULL;
1499                 }
1500 #endif
1501         }
1502 #endif
1503 }
1504
1505 static void World_Physics_Shutdown(void)
1506 {
1507 #ifdef USEODE
1508 #ifdef ODE_DYNAMIC
1509         if (ode_dll)
1510 #endif
1511         {
1512                 dCloseODE();
1513 #ifdef ODE_DYNAMIC
1514                 Sys_UnloadLibrary(&ode_dll);
1515                 ode_dll = NULL;
1516 #endif
1517         }
1518 #endif
1519 }
1520
1521 #ifdef USEODE
1522 static void World_Physics_EnableODE(world_t *world)
1523 {
1524         dVector3 center, extents;
1525         if (world->physics.ode)
1526                 return;
1527 #ifdef ODE_DYNAMIC
1528         if (!ode_dll)
1529                 return;
1530 #endif
1531         world->physics.ode = true;
1532         VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
1533         VectorSubtract(world->maxs, center, extents);
1534         world->physics.ode_world = dWorldCreate();
1535         world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
1536         world->physics.ode_contactgroup = dJointGroupCreate(0);
1537         if(physics_ode_world_erp.value >= 0)
1538                 dWorldSetERP(world->physics.ode_world, physics_ode_world_erp.value);
1539         if(physics_ode_world_cfm.value >= 0)
1540                 dWorldSetCFM(world->physics.ode_world, physics_ode_world_cfm.value);
1541 }
1542 #endif
1543
1544 static void World_Physics_Start(world_t *world)
1545 {
1546 #ifdef USEODE
1547         if (world->physics.ode)
1548                 return;
1549         World_Physics_EnableODE(world);
1550 #endif
1551 }
1552
1553 static void World_Physics_End(world_t *world)
1554 {
1555 #ifdef USEODE
1556         if (world->physics.ode)
1557         {
1558                 dWorldDestroy(world->physics.ode_world);
1559                 dSpaceDestroy(world->physics.ode_space);
1560                 dJointGroupDestroy(world->physics.ode_contactgroup);
1561                 world->physics.ode = false;
1562         }
1563 #endif
1564 }
1565
1566 void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
1567 {
1568         ed->priv.server->ode_joint_type = 0;
1569 #ifdef USEODE
1570         if(ed->priv.server->ode_joint)
1571                 dJointDestroy((dJointID)ed->priv.server->ode_joint);
1572         ed->priv.server->ode_joint = NULL;
1573 #endif
1574 }
1575
1576 void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
1577 {
1578         // entity is not physics controlled, free any physics data
1579         ed->priv.server->ode_physics = false;
1580 #ifdef USEODE
1581         if (ed->priv.server->ode_geom)
1582                 dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
1583         ed->priv.server->ode_geom = NULL;
1584         if (ed->priv.server->ode_body)
1585         {
1586                 dJointID j;
1587                 dBodyID b1, b2;
1588                 prvm_edict_t *ed2;
1589                 while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
1590                 {
1591                         j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
1592                         ed2 = (prvm_edict_t *) dJointGetData(j);
1593                         b1 = dJointGetBody(j, 0);
1594                         b2 = dJointGetBody(j, 1);
1595                         if(b1 == (dBodyID)ed->priv.server->ode_body)
1596                         {
1597                                 b1 = 0;
1598                                 ed2->priv.server->ode_joint_enemy = 0;
1599                         }
1600                         if(b2 == (dBodyID)ed->priv.server->ode_body)
1601                         {
1602                                 b2 = 0;
1603                                 ed2->priv.server->ode_joint_aiment = 0;
1604                         }
1605                         dJointAttach(j, b1, b2);
1606                 }
1607                 dBodyDestroy((dBodyID)ed->priv.server->ode_body);
1608         }
1609         ed->priv.server->ode_body = NULL;
1610 #endif
1611         if (ed->priv.server->ode_vertex3f)
1612                 Mem_Free(ed->priv.server->ode_vertex3f);
1613         ed->priv.server->ode_vertex3f = NULL;
1614         ed->priv.server->ode_numvertices = 0;
1615         if (ed->priv.server->ode_element3i)
1616                 Mem_Free(ed->priv.server->ode_element3i);
1617         ed->priv.server->ode_element3i = NULL;
1618         ed->priv.server->ode_numtriangles = 0;
1619         if(ed->priv.server->ode_massbuf)
1620                 Mem_Free(ed->priv.server->ode_massbuf);
1621         ed->priv.server->ode_massbuf = NULL;
1622 }
1623
1624 #ifdef USEODE
1625 static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
1626 {
1627         const dReal *avel;
1628         const dReal *o;
1629         const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
1630         const dReal *vel;
1631         dBodyID body = (dBodyID)ed->priv.server->ode_body;
1632         int movetype;
1633         matrix4x4_t bodymatrix;
1634         matrix4x4_t entitymatrix;
1635         prvm_eval_t *val;
1636         vec3_t angles;
1637         vec3_t avelocity;
1638         vec3_t forward, left, up;
1639         vec3_t origin;
1640         vec3_t spinvelocity;
1641         vec3_t velocity;
1642         int jointtype;
1643         if (!body)
1644                 return;
1645         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);
1646         movetype = (int)val->_float;
1647         if (movetype != MOVETYPE_PHYSICS)
1648         {
1649                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
1650                 switch(jointtype)
1651                 {
1652                         // TODO feed back data from physics
1653                         case JOINTTYPE_POINT:
1654                                 break;
1655                         case JOINTTYPE_HINGE:
1656                                 break;
1657                         case JOINTTYPE_SLIDER:
1658                                 break;
1659                         case JOINTTYPE_UNIVERSAL:
1660                                 break;
1661                         case JOINTTYPE_HINGE2:
1662                                 break;
1663                         case JOINTTYPE_FIXED:
1664                                 break;
1665                 }
1666                 return;
1667         }
1668         // store the physics engine data into the entity
1669         o = dBodyGetPosition(body);
1670         r = dBodyGetRotation(body);
1671         vel = dBodyGetLinearVel(body);
1672         avel = dBodyGetAngularVel(body);
1673         VectorCopy(o, origin);
1674         forward[0] = r[0];
1675         forward[1] = r[4];
1676         forward[2] = r[8];
1677         left[0] = r[1];
1678         left[1] = r[5];
1679         left[2] = r[9];
1680         up[0] = r[2];
1681         up[1] = r[6];
1682         up[2] = r[10];
1683         VectorCopy(vel, velocity);
1684         VectorCopy(avel, spinvelocity);
1685         Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
1686         Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
1687         Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);
1688
1689         AnglesFromVectors(angles, forward, up, false);
1690         VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));
1691
1692         {
1693                 float pitchsign = 1;
1694                 if(!strcmp(prog->name, "server")) // FIXME some better way?
1695                 {
1696                         pitchsign = SV_GetPitchSign(ed);
1697                 }
1698                 else if(!strcmp(prog->name, "client"))
1699                 {
1700                         pitchsign = CL_GetPitchSign(ed);
1701                 }
1702                 angles[PITCH] *= pitchsign;
1703                 avelocity[PITCH] *= pitchsign;
1704         }
1705
1706         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(origin, val->vector);
1707         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(velocity, val->vector);
1708         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(forward, val->vector);
1709         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(left, val->vector);
1710         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(up, val->vector);
1711         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(spinvelocity, val->vector);
1712         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(angles, val->vector);
1713         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(avelocity, val->vector);
1714
1715         // values for BodyFromEntity to check if the qc modified anything later
1716         VectorCopy(origin, ed->priv.server->ode_origin);
1717         VectorCopy(velocity, ed->priv.server->ode_velocity);
1718         VectorCopy(angles, ed->priv.server->ode_angles);
1719         VectorCopy(avelocity, ed->priv.server->ode_avelocity);
1720         ed->priv.server->ode_gravity = dBodyGetGravityMode(body);
1721
1722         if(!strcmp(prog->name, "server")) // FIXME some better way?
1723         {
1724                 SV_LinkEdict(ed);
1725                 SV_LinkEdict_TouchAreaGrid(ed);
1726         }
1727 }
1728
1729 static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
1730 {
1731         dJointID j = 0;
1732         dBodyID b1 = 0;
1733         dBodyID b2 = 0;
1734         int movetype = 0;
1735         int jointtype = 0;
1736         int enemy = 0, aiment = 0;
1737         vec3_t origin, velocity, angles, forward, left, up, movedir;
1738         vec_t CFM, ERP, FMax, Stop, Vel;
1739         prvm_eval_t *val;
1740         VectorClear(origin);
1741         VectorClear(velocity);
1742         VectorClear(angles);
1743         VectorClear(movedir);
1744         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
1745         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.jointtype);if (val) jointtype = (int)val->_float;
1746         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.enemy);if (val) enemy = val->_int;
1747         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.aiment);if (val) aiment = val->_int;
1748         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
1749         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
1750         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
1751         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movedir);if (val) VectorCopy(val->vector, movedir);
1752         if(movetype == MOVETYPE_PHYSICS)
1753                 jointtype = 0; // can't have both
1754         if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
1755                 enemy = 0;
1756         if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
1757                 aiment = 0;
1758         // see http://www.ode.org/old_list_archives/2006-January/017614.html
1759         // we want to set ERP? make it fps independent and work like a spring constant
1760         // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
1761         if(movedir[0] > 0 && movedir[1] > 0)
1762         {
1763                 float K = movedir[0];
1764                 float D = movedir[1];
1765                 float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
1766                 CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
1767                 ERP = world->physics.ode_step * K * CFM;
1768                 Vel = 0;
1769                 FMax = 0;
1770                 Stop = movedir[2];
1771         }
1772         else if(movedir[1] < 0)
1773         {
1774                 CFM = 0;
1775                 ERP = 0;
1776                 Vel = movedir[0];
1777                 FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
1778                 Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
1779         }
1780         else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
1781         {
1782                 CFM = 0;
1783                 ERP = 0;
1784                 Vel = 0;
1785                 FMax = 0;
1786                 Stop = dInfinity;
1787         }
1788         if(jointtype == ed->priv.server->ode_joint_type && VectorCompare(origin, ed->priv.server->ode_joint_origin) && VectorCompare(velocity, ed->priv.server->ode_joint_velocity) && VectorCompare(angles, ed->priv.server->ode_joint_angles) && enemy == ed->priv.server->ode_joint_enemy && aiment == ed->priv.server->ode_joint_aiment && VectorCompare(movedir, ed->priv.server->ode_joint_movedir))
1789                 return; // nothing to do
1790         AngleVectorsFLU(angles, forward, left, up);
1791         switch(jointtype)
1792         {
1793                 case JOINTTYPE_POINT:
1794                         j = dJointCreateBall(world->physics.ode_world, 0);
1795                         break;
1796                 case JOINTTYPE_HINGE:
1797                         j = dJointCreateHinge(world->physics.ode_world, 0);
1798                         break;
1799                 case JOINTTYPE_SLIDER:
1800                         j = dJointCreateSlider(world->physics.ode_world, 0);
1801                         break;
1802                 case JOINTTYPE_UNIVERSAL:
1803                         j = dJointCreateUniversal(world->physics.ode_world, 0);
1804                         break;
1805                 case JOINTTYPE_HINGE2:
1806                         j = dJointCreateHinge2(world->physics.ode_world, 0);
1807                         break;
1808                 case JOINTTYPE_FIXED:
1809                         j = dJointCreateFixed(world->physics.ode_world, 0);
1810                         break;
1811                 case 0:
1812                 default:
1813                         // no joint
1814                         j = 0;
1815                         break;
1816         }
1817         if(ed->priv.server->ode_joint)
1818         {
1819                 //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
1820                 dJointAttach(ed->priv.server->ode_joint, 0, 0);
1821                 dJointDestroy(ed->priv.server->ode_joint);
1822         }
1823         ed->priv.server->ode_joint = (void *) j;
1824         ed->priv.server->ode_joint_type = jointtype;
1825         ed->priv.server->ode_joint_enemy = enemy;
1826         ed->priv.server->ode_joint_aiment = aiment;
1827         VectorCopy(origin, ed->priv.server->ode_joint_origin);
1828         VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
1829         VectorCopy(angles, ed->priv.server->ode_joint_angles);
1830         VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
1831         if(j)
1832         {
1833                 //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
1834                 dJointSetData(j, (void *) ed);
1835                 if(enemy)
1836                         b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
1837                 if(aiment)
1838                         b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
1839                 dJointAttach(j, b1, b2);
1840
1841                 switch(jointtype)
1842                 {
1843                         case JOINTTYPE_POINT:
1844                                 dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
1845                                 break;
1846                         case JOINTTYPE_HINGE:
1847                                 dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
1848                                 dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
1849                                 dJointSetHingeParam(j, dParamFMax, FMax);
1850                                 dJointSetHingeParam(j, dParamHiStop, Stop);
1851                                 dJointSetHingeParam(j, dParamLoStop, -Stop);
1852                                 dJointSetHingeParam(j, dParamStopCFM, CFM);
1853                                 dJointSetHingeParam(j, dParamStopERP, ERP);
1854                                 dJointSetHingeParam(j, dParamVel, Vel);
1855                                 break;
1856                         case JOINTTYPE_SLIDER:
1857                                 dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
1858                                 dJointSetSliderParam(j, dParamFMax, FMax);
1859                                 dJointSetSliderParam(j, dParamHiStop, Stop);
1860                                 dJointSetSliderParam(j, dParamLoStop, -Stop);
1861                                 dJointSetSliderParam(j, dParamStopCFM, CFM);
1862                                 dJointSetSliderParam(j, dParamStopERP, ERP);
1863                                 dJointSetSliderParam(j, dParamVel, Vel);
1864                                 break;
1865                         case JOINTTYPE_UNIVERSAL:
1866                                 dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
1867                                 dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
1868                                 dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
1869                                 dJointSetUniversalParam(j, dParamFMax, FMax);
1870                                 dJointSetUniversalParam(j, dParamHiStop, Stop);
1871                                 dJointSetUniversalParam(j, dParamLoStop, -Stop);
1872                                 dJointSetUniversalParam(j, dParamStopCFM, CFM);
1873                                 dJointSetUniversalParam(j, dParamStopERP, ERP);
1874                                 dJointSetUniversalParam(j, dParamVel, Vel);
1875                                 dJointSetUniversalParam(j, dParamFMax2, FMax);
1876                                 dJointSetUniversalParam(j, dParamHiStop2, Stop);
1877                                 dJointSetUniversalParam(j, dParamLoStop2, -Stop);
1878                                 dJointSetUniversalParam(j, dParamStopCFM2, CFM);
1879                                 dJointSetUniversalParam(j, dParamStopERP2, ERP);
1880                                 dJointSetUniversalParam(j, dParamVel2, Vel);
1881                                 break;
1882                         case JOINTTYPE_HINGE2:
1883                                 dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
1884                                 dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
1885                                 dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
1886                                 dJointSetHinge2Param(j, dParamFMax, FMax);
1887                                 dJointSetHinge2Param(j, dParamHiStop, Stop);
1888                                 dJointSetHinge2Param(j, dParamLoStop, -Stop);
1889                                 dJointSetHinge2Param(j, dParamStopCFM, CFM);
1890                                 dJointSetHinge2Param(j, dParamStopERP, ERP);
1891                                 dJointSetHinge2Param(j, dParamVel, Vel);
1892                                 dJointSetHinge2Param(j, dParamFMax2, FMax);
1893                                 dJointSetHinge2Param(j, dParamHiStop2, Stop);
1894                                 dJointSetHinge2Param(j, dParamLoStop2, -Stop);
1895                                 dJointSetHinge2Param(j, dParamStopCFM2, CFM);
1896                                 dJointSetHinge2Param(j, dParamStopERP2, ERP);
1897                                 dJointSetHinge2Param(j, dParamVel2, Vel);
1898                                 break;
1899                         case JOINTTYPE_FIXED:
1900                                 break;
1901                         case 0:
1902                         default:
1903                                 Sys_Error("what? but above the joint was valid...\n");
1904                                 break;
1905                 }
1906 #undef SETPARAMS
1907
1908         }
1909 }
1910
1911 static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
1912 {
1913         const float *iv;
1914         const int *ie;
1915         dBodyID body = (dBodyID)ed->priv.server->ode_body;
1916         dMass mass;
1917         dReal test;
1918         void *dataID;
1919         dVector3 capsulerot[3];
1920         dp_model_t *model;
1921         float *ov;
1922         int *oe;
1923         int axisindex;
1924         int modelindex = 0;
1925         int movetype = MOVETYPE_NONE;
1926         int numtriangles;
1927         int numvertices;
1928         int solid = SOLID_NOT;
1929         int triangleindex;
1930         int vertexindex;
1931         mempool_t *mempool;
1932         prvm_eval_t *val;
1933         qboolean modified = false;
1934         vec3_t angles;
1935         vec3_t avelocity;
1936         vec3_t entmaxs;
1937         vec3_t entmins;
1938         vec3_t forward;
1939         vec3_t geomcenter;
1940         vec3_t geomsize;
1941         vec3_t left;
1942         vec3_t origin;
1943         vec3_t spinvelocity;
1944         vec3_t up;
1945         vec3_t velocity;
1946         vec_t f;
1947         vec_t length;
1948         vec_t massval = 1.0f;
1949         vec_t movelimit;
1950         vec_t radius;
1951         vec_t scale = 1.0f;
1952         vec_t spinlimit;
1953         qboolean gravity;
1954 #ifdef ODE_DYNAMIC
1955         if (!ode_dll)
1956                 return;
1957 #endif
1958         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.solid);if (val) solid = (int)val->_float;
1959         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.movetype);if (val) movetype = (int)val->_float;
1960         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.scale);if (val && val->_float) scale = val->_float;
1961         modelindex = 0;
1962         if (world == &sv.world)
1963                 mempool = sv_mempool;
1964         else if (world == &cl.world)
1965                 mempool = cls.levelmempool;
1966         else
1967                 mempool = NULL;
1968         switch(solid)
1969         {
1970         case SOLID_BSP:
1971                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.modelindex);
1972                 if (val)
1973                         modelindex = (int)val->_float;
1974                 if (world == &sv.world)
1975                         model = SV_GetModelByIndex(modelindex);
1976                 else if (world == &cl.world)
1977                         model = CL_GetModelByIndex(modelindex);
1978                 else
1979                         model = NULL;
1980                 if (model)
1981                 {
1982                         VectorScale(model->normalmins, scale, entmins);
1983                         VectorScale(model->normalmaxs, scale, entmaxs);
1984                         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
1985                 }
1986                 else
1987                 {
1988                         modelindex = 0;
1989                         massval = 1.0f;
1990                 }
1991                 break;
1992         case SOLID_BBOX:
1993         //case SOLID_SLIDEBOX:
1994         case SOLID_CORPSE:
1995         case SOLID_PHYSICS_BOX:
1996         case SOLID_PHYSICS_SPHERE:
1997         case SOLID_PHYSICS_CAPSULE:
1998                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mins);if (val) VectorCopy(val->vector, entmins);
1999                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.maxs);if (val) VectorCopy(val->vector, entmaxs);
2000                 val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.mass);if (val) massval = val->_float;
2001                 break;
2002         default:
2003                 if (ed->priv.server->ode_physics)
2004                         World_Physics_RemoveFromEntity(world, ed);
2005                 return;
2006         }
2007
2008         VectorSubtract(entmaxs, entmins, geomsize);
2009         if (VectorLength2(geomsize) == 0)
2010         {
2011                 // we don't allow point-size physics objects...
2012                 if (ed->priv.server->ode_physics)
2013                         World_Physics_RemoveFromEntity(world, ed);
2014                 return;
2015         }
2016
2017         if (movetype != MOVETYPE_PHYSICS)
2018                 massval = 1.0f;
2019
2020         // check if we need to create or replace the geom
2021         if (!ed->priv.server->ode_physics
2022          || !VectorCompare(ed->priv.server->ode_mins, entmins)
2023          || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
2024          || ed->priv.server->ode_mass != massval
2025          || ed->priv.server->ode_modelindex != modelindex)
2026         {
2027                 modified = true;
2028                 World_Physics_RemoveFromEntity(world, ed);
2029                 ed->priv.server->ode_physics = true;
2030                 VectorCopy(entmins, ed->priv.server->ode_mins);
2031                 VectorCopy(entmaxs, ed->priv.server->ode_maxs);
2032                 ed->priv.server->ode_mass = massval;
2033                 ed->priv.server->ode_modelindex = modelindex;
2034                 VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
2035                 ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));
2036
2037                 if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
2038                 {
2039                         if (movetype == MOVETYPE_PHYSICS)
2040                                 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));
2041                         massval = 1.0f;
2042                         VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
2043                 }
2044
2045                 switch(solid)
2046                 {
2047                 case SOLID_BSP:
2048                         ed->priv.server->ode_offsetmatrix = identitymatrix;
2049                         if (!model)
2050                         {
2051                                 Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
2052                                 break;
2053                         }
2054                         // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
2055                         if (!model->brush.collisionmesh)
2056                                 Mod_CreateCollisionMesh(model);
2057                         if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
2058                         {
2059                                 Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string));
2060                                 break;
2061                         }
2062                         // ODE requires persistent mesh storage, so we need to copy out
2063                         // the data from the model because renderer restarts could free it
2064                         // during the game, additionally we need to flip the triangles...
2065                         // note: ODE does preprocessing of the mesh for culling, removing
2066                         // concave edges, etc., so this is not a lightweight operation
2067                         ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
2068                         ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
2069                         for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
2070                         {
2071                                 ov[0] = iv[0] - geomcenter[0];
2072                                 ov[1] = iv[1] - geomcenter[1];
2073                                 ov[2] = iv[2] - geomcenter[2];
2074                         }
2075                         ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
2076                         ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
2077                         //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
2078                         for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
2079                         {
2080                                 oe[0] = ie[2];
2081                                 oe[1] = ie[1];
2082                                 oe[2] = ie[0];
2083                         }
2084                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2085                         // now create the geom
2086                         dataID = dGeomTriMeshDataCreate();
2087                         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]));
2088                         ed->priv.server->ode_geom = (void *)dCreateTriMesh(world->physics.ode_space, dataID, NULL, NULL, NULL);
2089                         dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2090                         break;
2091                 case SOLID_BBOX:
2092                 case SOLID_SLIDEBOX:
2093                 case SOLID_CORPSE:
2094                 case SOLID_PHYSICS_BOX:
2095                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2096                         ed->priv.server->ode_geom = (void *)dCreateBox(world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
2097                         dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
2098                         break;
2099                 case SOLID_PHYSICS_SPHERE:
2100                         Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
2101                         ed->priv.server->ode_geom = (void *)dCreateSphere(world->physics.ode_space, geomsize[0] * 0.5f);
2102                         dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
2103                         break;
2104                 case SOLID_PHYSICS_CAPSULE:
2105                         axisindex = 0;
2106                         if (geomsize[axisindex] < geomsize[1])
2107                                 axisindex = 1;
2108                         if (geomsize[axisindex] < geomsize[2])
2109                                 axisindex = 2;
2110                         // the qc gives us 3 axis radius, the longest axis is the capsule
2111                         // axis, since ODE doesn't like this idea we have to create a
2112                         // capsule which uses the standard orientation, and apply a
2113                         // transform to it
2114                         memset(capsulerot, 0, sizeof(capsulerot));
2115                         if (axisindex == 0)
2116                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
2117                         else if (axisindex == 1)
2118                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
2119                         else
2120                                 Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
2121                         radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
2122                         length = geomsize[axisindex] - radius*2;
2123                         // because we want to support more than one axisindex, we have to
2124                         // create a transform, and turn on its cleanup setting (which will
2125                         // cause the child to be destroyed when it is destroyed)
2126                         ed->priv.server->ode_geom = (void *)dCreateCapsule(world->physics.ode_space, radius, length);
2127                         dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
2128                         break;
2129                 default:
2130                         Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
2131                 }
2132                 Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
2133                 ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
2134                 memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
2135         }
2136
2137         if(ed->priv.server->ode_geom)
2138                 dGeomSetData(ed->priv.server->ode_geom, (void*)ed);
2139         if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
2140         {
2141                 if (ed->priv.server->ode_body == NULL)
2142                 {
2143                         ed->priv.server->ode_body = (void *)(body = dBodyCreate(world->physics.ode_world));
2144                         dGeomSetBody(ed->priv.server->ode_geom, body);
2145                         dBodySetData(body, (void*)ed);
2146                         dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
2147                         modified = true;
2148                 }
2149         }
2150         else
2151         {
2152                 if (ed->priv.server->ode_body != NULL)
2153                 {
2154                         if(ed->priv.server->ode_geom)
2155                                 dGeomSetBody(ed->priv.server->ode_geom, 0);
2156                         dBodyDestroy((dBodyID) ed->priv.server->ode_body);
2157                         ed->priv.server->ode_body = NULL;
2158                         modified = true;
2159                 }
2160         }
2161
2162         // get current data from entity
2163         VectorClear(origin);
2164         VectorClear(velocity);
2165         //VectorClear(forward);
2166         //VectorClear(left);
2167         //VectorClear(up);
2168         //VectorClear(spinvelocity);
2169         VectorClear(angles);
2170         VectorClear(avelocity);
2171         gravity = true;
2172         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.origin);if (val) VectorCopy(val->vector, origin);
2173         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.velocity);if (val) VectorCopy(val->vector, velocity);
2174         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_forward);if (val) VectorCopy(val->vector, forward);
2175         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_left);if (val) VectorCopy(val->vector, left);
2176         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.axis_up);if (val) VectorCopy(val->vector, up);
2177         //val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.spinvelocity);if (val) VectorCopy(val->vector, spinvelocity);
2178         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.angles);if (val) VectorCopy(val->vector, angles);
2179         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.avelocity);if (val) VectorCopy(val->vector, avelocity);
2180         val = PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.gravity);if (val) { if(val->_float != 0.0f && val->_float < 0.5f) gravity = false; }
2181         if(ed == prog->edicts)
2182                 gravity = false;
2183
2184         // compatibility for legacy entities
2185         //if (!VectorLength2(forward) || solid == SOLID_BSP)
2186         {
2187                 float pitchsign = 1;
2188                 vec3_t qangles, qavelocity;
2189                 VectorCopy(angles, qangles);
2190                 VectorCopy(avelocity, qavelocity);
2191
2192                 if(!strcmp(prog->name, "server")) // FIXME some better way?
2193                 {
2194                         pitchsign = SV_GetPitchSign(ed);
2195                 }
2196                 else if(!strcmp(prog->name, "client"))
2197                 {
2198                         pitchsign = CL_GetPitchSign(ed);
2199                 }
2200                 qangles[PITCH] *= pitchsign;
2201                 qavelocity[PITCH] *= pitchsign;
2202
2203                 AngleVectorsFLU(qangles, forward, left, up);
2204                 // convert single-axis rotations in avelocity to spinvelocity
2205                 // FIXME: untested math - check signs
2206                 VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
2207         }
2208
2209         // compatibility for legacy entities
2210         switch (solid)
2211         {
2212         case SOLID_BBOX:
2213         case SOLID_SLIDEBOX:
2214         case SOLID_CORPSE:
2215                 VectorSet(forward, 1, 0, 0);
2216                 VectorSet(left, 0, 1, 0);
2217                 VectorSet(up, 0, 0, 1);
2218                 VectorSet(spinvelocity, 0, 0, 0);
2219                 break;
2220         }
2221
2222
2223         // we must prevent NANs...
2224         test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
2225         if (IS_NAN(test))
2226         {
2227                 modified = true;
2228                 //Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .axis_forward = '%f %f %f' .axis_left = '%f %f %f' .axis_up = %f %f %f' .spinvelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], forward[0], forward[1], forward[2], left[0], left[1], left[2], up[0], up[1], up[2], spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2229                 Con_Printf("Fixing NAN values on entity %i : .classname = \"%s\" .origin = '%f %f %f' .velocity = '%f %f %f' .angles = '%f %f %f' .avelocity = '%f %f %f'\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_EDICTFIELDVALUE(ed, prog->fieldoffsets.classname)->string), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
2230                 test = VectorLength2(origin);
2231                 if (IS_NAN(test))
2232                         VectorClear(origin);
2233                 test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
2234                 if (IS_NAN(test))
2235                 {
2236                         VectorSet(angles, 0, 0, 0);
2237                         VectorSet(forward, 1, 0, 0);
2238                         VectorSet(left, 0, 1, 0);
2239                         VectorSet(up, 0, 0, 1);
2240                 }
2241                 test = VectorLength2(velocity);
2242                 if (IS_NAN(test))
2243                         VectorClear(velocity);
2244                 test = VectorLength2(spinvelocity);
2245                 if (IS_NAN(test))
2246                 {
2247                         VectorClear(avelocity);
2248                         VectorClear(spinvelocity);
2249                 }
2250         }
2251
2252         // check if the qc edited any position data
2253         if (!VectorCompare(origin, ed->priv.server->ode_origin)
2254          || !VectorCompare(velocity, ed->priv.server->ode_velocity)
2255          || !VectorCompare(angles, ed->priv.server->ode_angles)
2256          || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
2257          || gravity != ed->priv.server->ode_gravity)
2258                 modified = true;
2259
2260         // store the qc values into the physics engine
2261         body = ed->priv.server->ode_body;
2262         if (modified && ed->priv.server->ode_geom)
2263         {
2264                 dVector3 r[3];
2265                 matrix4x4_t entitymatrix;
2266                 matrix4x4_t bodymatrix;
2267
2268 #if 0
2269                 Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
2270                 if(!VectorCompare(origin, ed->priv.server->ode_origin))
2271                         Con_Printf("  origin: %f %f %f -> %f %f %f\n", ed->priv.server->ode_origin[0], ed->priv.server->ode_origin[1], ed->priv.server->ode_origin[2], origin[0], origin[1], origin[2]);
2272                 if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
2273                         Con_Printf("  velocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_velocity[0], ed->priv.server->ode_velocity[1], ed->priv.server->ode_velocity[2], velocity[0], velocity[1], velocity[2]);
2274                 if(!VectorCompare(angles, ed->priv.server->ode_angles))
2275                         Con_Printf("  angles: %f %f %f -> %f %f %f\n", ed->priv.server->ode_angles[0], ed->priv.server->ode_angles[1], ed->priv.server->ode_angles[2], angles[0], angles[1], angles[2]);
2276                 if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
2277                         Con_Printf("  avelocity: %f %f %f -> %f %f %f\n", ed->priv.server->ode_avelocity[0], ed->priv.server->ode_avelocity[1], ed->priv.server->ode_avelocity[2], avelocity[0], avelocity[1], avelocity[2]);
2278                 if(gravity != ed->priv.server->ode_gravity)
2279                         Con_Printf("  gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
2280 #endif
2281
2282                 // values for BodyFromEntity to check if the qc modified anything later
2283                 VectorCopy(origin, ed->priv.server->ode_origin);
2284                 VectorCopy(velocity, ed->priv.server->ode_velocity);
2285                 VectorCopy(angles, ed->priv.server->ode_angles);
2286                 VectorCopy(avelocity, ed->priv.server->ode_avelocity);
2287                 ed->priv.server->ode_gravity = gravity;
2288
2289                 Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
2290                 Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
2291                 Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
2292                 r[0][0] = forward[0];
2293                 r[1][0] = forward[1];
2294                 r[2][0] = forward[2];
2295                 r[0][1] = left[0];
2296                 r[1][1] = left[1];
2297                 r[2][1] = left[2];
2298                 r[0][2] = up[0];
2299                 r[1][2] = up[1];
2300                 r[2][2] = up[2];
2301                 if(body)
2302                 {
2303                         if(movetype == MOVETYPE_PHYSICS)
2304                         {
2305                                 dGeomSetBody(ed->priv.server->ode_geom, body);
2306                                 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2307                                 dBodySetRotation(body, r[0]);
2308                                 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2309                                 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2310                                 dBodySetGravityMode(body, gravity);
2311                         }
2312                         else
2313                         {
2314                                 dGeomSetBody(ed->priv.server->ode_geom, body);
2315                                 dBodySetPosition(body, origin[0], origin[1], origin[2]);
2316                                 dBodySetRotation(body, r[0]);
2317                                 dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2318                                 dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2319                                 dBodySetGravityMode(body, gravity);
2320                                 dGeomSetBody(ed->priv.server->ode_geom, 0);
2321                         }
2322                 }
2323                 else
2324                 {
2325                         // no body... then let's adjust the parameters of the geom directly
2326                         dGeomSetBody(ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
2327                         dGeomSetPosition(ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
2328                         dGeomSetRotation(ed->priv.server->ode_geom, r[0]);
2329                 }
2330         }
2331
2332         if(body)
2333         {
2334                 // limit movement speed to prevent missed collisions at high speed
2335                 const dReal *ovelocity = dBodyGetLinearVel(body);
2336                 const dReal *ospinvelocity = dBodyGetAngularVel(body);
2337                 movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
2338                 test = VectorLength2(ovelocity);
2339                 if (test > movelimit*movelimit)
2340                 {
2341                         // scale down linear velocity to the movelimit
2342                         // scale down angular velocity the same amount for consistency
2343                         f = movelimit / sqrt(test);
2344                         VectorScale(ovelocity, f, velocity);
2345                         VectorScale(ospinvelocity, f, spinvelocity);
2346                         dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
2347                         dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
2348                 }
2349
2350                 // make sure the angular velocity is not exploding
2351                 spinlimit = physics_ode_spinlimit.value;
2352                 test = VectorLength2(ospinvelocity);
2353                 if (test > spinlimit)
2354                 {
2355                         dBodySetAngularVel(body, 0, 0, 0);
2356                 }
2357         }
2358 }
2359
2360 #define MAX_CONTACTS 16
2361 static void nearCallback (void *data, dGeomID o1, dGeomID o2)
2362 {
2363         world_t *world = (world_t *)data;
2364         dContact contact[MAX_CONTACTS]; // max contacts per collision pair
2365         dBodyID b1;
2366         dBodyID b2;
2367         dJointID c;
2368         int i;
2369         int numcontacts;
2370         prvm_eval_t *val;
2371         float bouncefactor1 = 0.0f;
2372         float bouncestop1 = 60.0f / 800.0f;
2373         float bouncefactor2 = 0.0f;
2374         float bouncestop2 = 60.0f / 800.0f;
2375         dVector3 grav;
2376         prvm_edict_t *ed1, *ed2;
2377
2378         if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
2379         {
2380                 // colliding a space with something
2381                 dSpaceCollide2(o1, o2, data, &nearCallback);
2382                 // Note we do not want to test intersections within a space,
2383                 // only between spaces.
2384                 //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
2385                 //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
2386                 return;
2387         }
2388
2389         b1 = dGeomGetBody(o1);
2390         b2 = dGeomGetBody(o2);
2391
2392         // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
2393         if (!b1 && !b2)
2394                 return;
2395
2396         // exit without doing anything if the two bodies are connected by a joint
2397         if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
2398                 return;
2399
2400         ed1 = (prvm_edict_t *) dGeomGetData(o1);
2401         if(ed1 && ed1->priv.server->free)
2402                 ed1 = NULL;
2403         if(ed1)
2404         {
2405                 val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncefactor);
2406                 if (val!=0 && val->_float)
2407                         bouncefactor1 = val->_float;
2408
2409                 val = PRVM_EDICTFIELDVALUE(ed1, prog->fieldoffsets.bouncestop);
2410                 if (val!=0 && val->_float)
2411                         bouncestop1 = val->_float;
2412         }
2413
2414         ed2 = (prvm_edict_t *) dGeomGetData(o2);
2415         if(ed2 && ed2->priv.server->free)
2416                 ed2 = NULL;
2417         if(ed2)
2418         {
2419                 val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncefactor);
2420                 if (val!=0 && val->_float)
2421                         bouncefactor2 = val->_float;
2422
2423                 val = PRVM_EDICTFIELDVALUE(ed2, prog->fieldoffsets.bouncestop);
2424                 if (val!=0 && val->_float)
2425                         bouncestop2 = val->_float;
2426         }
2427
2428         if(!strcmp(prog->name, "server"))
2429         {
2430                 if(ed1 && ed1->fields.server->touch)
2431                 {
2432                         SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
2433                 }
2434                 if(ed2 && ed2->fields.server->touch)
2435                 {
2436                         SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
2437                 }
2438         }
2439
2440         // merge bounce factors and bounce stop
2441         if(bouncefactor2 > 0)
2442         {
2443                 if(bouncefactor1 > 0)
2444                 {
2445                         // TODO possibly better logic to merge bounce factor data?
2446                         if(bouncestop2 < bouncestop1)
2447                                 bouncestop1 = bouncestop2;
2448                         if(bouncefactor2 > bouncefactor1)
2449                                 bouncefactor1 = bouncefactor2;
2450                 }
2451                 else
2452                 {
2453                         bouncestop1 = bouncestop2;
2454                         bouncefactor1 = bouncefactor2;
2455                 }
2456         }
2457         dWorldGetGravity(world->physics.ode_world, grav);
2458         bouncestop1 *= fabs(grav[2]);
2459
2460         // generate contact points between the two non-space geoms
2461         numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
2462         // add these contact points to the simulation
2463         for (i = 0;i < numcontacts;i++)
2464         {
2465                 contact[i].surface.mode = (physics_ode_contact_mu.value != -1 ? dContactApprox1 : 0) | (physics_ode_contact_erp.value != -1 ? dContactSoftERP : 0) | (physics_ode_contact_cfm.value != -1 ? dContactSoftCFM : 0) | (bouncefactor1 > 0 ? dContactBounce : 0);
2466                 contact[i].surface.mu = physics_ode_contact_mu.value;
2467                 contact[i].surface.soft_erp = physics_ode_contact_erp.value;
2468                 contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
2469                 contact[i].surface.bounce = bouncefactor1;
2470                 contact[i].surface.bounce_vel = bouncestop1;
2471                 c = dJointCreateContact(world->physics.ode_world, world->physics.ode_contactgroup, contact + i);
2472                 dJointAttach(c, b1, b2);
2473         }
2474 }
2475 #endif
2476
2477 void World_Physics_Frame(world_t *world, double frametime, double gravity)
2478 {
2479 #ifdef USEODE
2480         if (world->physics.ode)
2481         {
2482                 int i;
2483                 prvm_edict_t *ed;
2484
2485                 world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
2486                 world->physics.ode_step = frametime / world->physics.ode_iterations;
2487                 world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
2488
2489                 // copy physics properties from entities to physics engine
2490                 if (prog)
2491                 {
2492                         for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2493                                 if (!prog->edicts[i].priv.required->free)
2494                                         World_Physics_Frame_BodyFromEntity(world, ed);
2495                         // oh, and it must be called after all bodies were created
2496                         for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2497                                 if (!prog->edicts[i].priv.required->free)
2498                                         World_Physics_Frame_JointFromEntity(world, ed);
2499                 }
2500
2501                 for (i = 0;i < world->physics.ode_iterations;i++)
2502                 {
2503                         // set the gravity
2504                         dWorldSetGravity(world->physics.ode_world, 0, 0, -gravity);
2505                         // set the tolerance for closeness of objects
2506                         dWorldSetContactSurfaceLayer(world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));
2507
2508                         // run collisions for the current world state, creating JointGroup
2509                         dSpaceCollide(world->physics.ode_space, (void *)world, nearCallback);
2510
2511                         // run physics (move objects, calculate new velocities)
2512                         if (physics_ode_worldquickstep.integer)
2513                         {
2514                                 dWorldSetQuickStepNumIterations(world->physics.ode_world, bound(1, physics_ode_worldquickstep_iterations.integer, 200));
2515                                 dWorldQuickStep(world->physics.ode_world, world->physics.ode_step);
2516                         }
2517                         else if (physics_ode_worldstepfast.integer)
2518                                 dWorldStepFast1(world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstepfast_iterations.integer, 200));
2519                         else
2520                                 dWorldStep(world->physics.ode_world, world->physics.ode_step);
2521
2522                         // clear the JointGroup now that we're done with it
2523                         dJointGroupEmpty(world->physics.ode_contactgroup);
2524                 }
2525
2526                 // copy physics properties from physics engine to entities
2527                 if (prog)
2528                         for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
2529                                 if (!prog->edicts[i].priv.required->free)
2530                                         World_Physics_Frame_BodyToEntity(world, ed);
2531         }
2532 #endif
2533 }