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Ripped LordHavoc's ODE physics support. It'll probably crash and burn. 99.995% untested. 

git-svn-id: https://svn.code.sf.net/p/fteqw/code/branches/wip@3406 fc73d0e0-1445-4013-8a0c-d673dee63da5
This commit is contained in:
Spoike 2009-11-05 01:22:27 +00:00
parent 8ecfac1423
commit a5d741c592
10 changed files with 2370 additions and 43 deletions
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2
engine/common/bothdefs.h
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@ -75,7 +75,7 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#define AVAIL_FREETYPE
#endif
//#define ODE_DYNAMIC
#define ODE_DYNAMIC
#ifdef NO_PNG
#undef AVAIL_PNGLIB

2233
engine/common/com_phys_ode.c Normal file
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File diff suppressed because it is too large Load Diff

128
engine/common/mathlib.c
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@ -916,7 +916,7 @@ void Matrix4_Transform3(float *matrix, float *vector, float *product)
product[2] = matrix[2]*vector[0] + matrix[6]*vector[1] + matrix[10]*vector[2] + matrix[14];
}
void Matrix4_ModelViewMatrix(float *modelview, vec3_t viewangles, vec3_t vieworg)
void Matrix4_ModelViewMatrix(float *modelview, const vec3_t viewangles, const vec3_t vieworg)
{
float tempmat[16];
//load identity.
@ -946,12 +946,12 @@ void Matrix4_ModelViewMatrix(float *modelview, vec3_t viewangles, vec3_t vieworg
Matrix4_Multiply(tempmat, Matrix4_NewTranslation(-vieworg[0], -vieworg[1], -vieworg[2]), modelview); // put Z going up
}
void Matrix4x4_CreateTranslate (float *out, float x, float y, float z)
void Matrix4_CreateTranslate (float *out, float x, float y, float z)
{
memcpy(out, Matrix4_NewTranslation(x, y, z), 16*sizeof(float));
}
void Matrix4_ModelViewMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg)
void Matrix4_ModelViewMatrixFromAxis(float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg)
{
float tempmat[16];
@ -976,43 +976,46 @@ void Matrix4_ModelViewMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right,
}
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
void Matrix4_ToVectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3])
{
vx[0] = in->m[0][0];
vx[1] = in->m[0][1];
vx[2] = in->m[0][2];
vy[0] = in->m[1][0];
vy[1] = in->m[1][1];
vy[2] = in->m[1][2];
vz[0] = in->m[2][0];
vz[1] = in->m[2][1];
vz[2] = in->m[2][2];
t [0] = in->m[3][0];
t [1] = in->m[3][1];
t [2] = in->m[3][2];
vx[0] = in[0];
vx[1] = in[4];
vx[2] = in[8];
vy[0] = in[1];
vy[1] = in[5];
vy[2] = in[9];
vz[0] = in[2];
vz[1] = in[6];
vz[2] = in[10];
t [0] = in[3];
t [1] = in[7];
t [2] = in[11];
}
void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
void Matrix4_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
{
out->m[0][0] = vx[0];
out->m[1][0] = vy[0];
out->m[2][0] = vz[0];
out->m[3][0] = t[0];
out->m[0][1] = vx[1];
out->m[1][1] = vy[1];
out->m[2][1] = vz[1];
out->m[3][1] = t[1];
out->m[0][2] = vx[2];
out->m[1][2] = vy[2];
out->m[2][2] = vz[2];
out->m[3][2] = t[2];
out->m[0][3] = 0.0f;
out->m[1][3] = 0.0f;
out->m[2][3] = 0.0f;
out->m[3][3] = 1.0f;
out[0] = vx[0];
out[4] = vy[0];
out[8] = vz[0];
out[12] = t[0];
out[1] = vx[1];
out[5] = vy[1];
out[9] = vz[1];
out[13] = t[1];
out[2] = vx[2];
out[6] = vy[2];
out[10] = vz[2];
out[14] = t[2];
out[3] = 0.0f;
out[7] = 0.0f;
out[11] = 0.0f;
out[15] = 1.0f;
}
void Matrix4_ModelMatrixFromAxis(float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg)
void Matrix4_ModelMatrixFromAxis(float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg)
{
float tempmat[16];
@ -1394,6 +1397,59 @@ qboolean Matrix4_Invert(const float *m, float *out)
#undef SWAP_ROWS
}
void Matrix4_Invert_Simple (const float *in1, float *out)
{
// we only support uniform scaling, so assume the first row is enough
// (note the lack of sqrt here, because we're trying to undo the scaling,
// this means multiplying by the inverse scale twice - squaring it, which
// makes the sqrt a waste of time)
#if 1
double scale = 1.0 / (in1[0] * in1[0] + in1[1] * in1[1] + in1[2] * in1[2]);
#else
double scale = 3.0 / sqrt
(in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
+ in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
+ in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
scale *= scale;
#endif
// invert the rotation by transposing and multiplying by the squared
// recipricol of the input matrix scale as described above
out[0] = in1[0] * scale;
out[1] = in1[4] * scale;
out[2] = in1[8] * scale;
out[4] = in1[1] * scale;
out[5] = in1[5] * scale;
out[6] = in1[9] * scale;
out[8] = in1[2] * scale;
out[9] = in1[6] * scale;
out[10] = in1[10] * scale;
#ifdef MATRIX4x4_OPENGLORIENTATION
// invert the translate
out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);
// don't know if there's anything worth doing here
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
// invert the translate
out[3] = -(in1[3] * out[0] + in1[7] * out[1] + in1[11] * out[2]);
out[7] = -(in1[3] * out[4] + in1[7] * out[5] + in1[11] * out[6]);
out[11] = -(in1[3] * out[8] + in1[7] * out[9] + in1[11] * out[10]);
// don't know if there's anything worth doing here
out[12] = 0;
out[13] = 0;
out[14] = 0;
out[15] = 1;
#endif
}
void Matrix3x4_InvertTo3x3(float *in, float *result)
{
float t1[16], tr[16];
@ -1428,7 +1484,7 @@ void Matrix3x4_InvertTo3x3(float *in, float *result)
//screen->3d
void Matrix4_UnProject(vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy)
void Matrix4_UnProject(const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy)
{
float modelview[16];
float proj[16];
@ -1458,7 +1514,7 @@ void Matrix4_UnProject(vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg,
//returns fractions of screen.
//uses GL style rotations and translations and stuff.
//3d -> screen (fixme: offscreen return values needed)
void Matrix4_Project (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy)
void Matrix4_Project (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy)
{
float modelview[16];
float proj[16];

15
engine/common/mathlib.h
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@ -131,16 +131,21 @@ float Q_rsqrt(float number);
void Matrix3_Multiply (vec3_t *in1, vec3_t *in2, vec3_t *out);
void Matrix4_Identity(float *outm);
qboolean Matrix4_Invert(const float *m, float *out);
void Matrix4_Invert_Simple (const float *in1, float *out);
void Matrix4_CreateTranslate (float *out, float x, float y, float z);
void Matrix4_ModelMatrixFromAxis (float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg);
void Matrix4_ModelViewMatrix (float *modelview, vec3_t viewangles, vec3_t vieworg);
void Matrix4_ModelViewMatrixFromAxis (float *modelview, vec3_t pn, vec3_t right, vec3_t up, vec3_t vieworg);
void Matrix4_ModelMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg);
void Matrix4_ModelViewMatrix (float *modelview, const vec3_t viewangles, const vec3_t vieworg);
void Matrix4_ModelViewMatrixFromAxis (float *modelview, const vec3_t pn, const vec3_t right, const vec3_t up, const vec3_t vieworg);
void Matrix4_CreateFromQuakeEntity (float *matrix, float x, float y, float z, float pitch, float yaw, float roll, float scale);
void Matrix4_Multiply (float *a, float *b, float *out);
void Matrix4_Project (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy);
void Matrix4_Project (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy);
void Matrix4_Transform3 (float *matrix, float *vector, float *product);
void Matrix4_Transform4 (float *matrix, float *vector, float *product);
void Matrix4_UnProject (vec3_t in, vec3_t out, vec3_t viewangles, vec3_t vieworg, float fovx, float fovy);
void Matrix4_UnProject (const vec3_t in, vec3_t out, const vec3_t viewangles, const vec3_t vieworg, float fovx, float fovy);
void Matrix4_FromVectors(float *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
void Matrix4_ToVectors(const float *in, float vx[3], float vy[3], float vz[3], float t[3]);
#define AngleVectorsFLU(a,f,l,u) do{AngleVectors(a,f,l,u);VectorNegate(l,l);}while(0)
//projection matricies of different types... gesh
void Matrix4_Orthographic (float *proj, float xmin, float xmax, float ymax, float ymin, float znear, float zfar);

10
engine/common/world.h
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@ -141,6 +141,16 @@ typedef struct world_s world_t;
#ifndef CLIENTONLY
#ifdef USEODE
void World_Physics_RemoveFromEntity(world_t *world, wedict_t *ed);
void World_Physics_RemoveJointFromEntity(world_t *world, wedict_t *ed);
void World_Physics_Frame(world_t *world, double frametime, double gravity);
void World_Physics_Init(void);
void World_Physics_Start(world_t *world);
void World_Physics_End(world_t *world);
void World_Physics_Shutdown(void);
#endif
void World_ClearWorld (world_t *w);
// called after the world model has been loaded, before linking any entities

4
engine/dotnet2005/ftequake.vcproj
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@ -18532,6 +18532,10 @@
/>
</FileConfiguration>
</File>
<File
RelativePath="..\common\com_phys_ode.c"
>
</File>
<File
RelativePath="..\common\common.c"
>

9
engine/server/pr_cmds.c
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@ -443,6 +443,10 @@ void Q_SetProgsParms(qboolean forcompiler)
void PR_Deinit(void)
{
#ifdef USEODE
World_Physics_End(&sv.world);
#endif
#ifdef SQL
SQL_DeInit();
#endif
@ -1382,6 +1386,11 @@ void Q_InitProgs(void)
if (sv.world.max_edicts > MAX_EDICTS)
sv.world.max_edicts = MAX_EDICTS;
sv.world.edict_size = PR_InitEnts(svprogfuncs, sv.world.max_edicts);
#ifdef USEODE
World_Physics_Start(&sv.world);
#endif
}
qboolean PR_QCChat(char *text, int say_type)

8
engine/server/sv_main.c
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@ -249,8 +249,10 @@ void SV_Shutdown (void)
sv_fraglogfile = NULL;
}
PR_Deinit();
#ifdef USEODE
World_Physics_Shutdown();
#endif
if (sv.mvdrecording)
SV_MVDStop_f();
@ -4354,6 +4356,10 @@ void SV_Init (quakeparms_t *parms)
SV_Demo_Init();
#ifdef USEODE
World_Physics_Init();
#endif
#ifdef SVRANKING
Rank_RegisterCommands();
#endif

2
engine/server/sv_phys.c
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@ -21,6 +21,8 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#include "qwsvdef.h"
#ifndef CLIENTONLY
#pragma message("fixme, fix this up before adding to csqc")
extern nqglobalvars_t realpr_nqglobal_struct;
/*

2
engine/server/world.c
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@ -22,6 +22,8 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#include "quakedef.h"
#include "pr_common.h"
//#define pr_global_struct dgsdfg sdfg sdfg sd gsgd
#ifndef CLIENTONLY
/*