static int SimulationThread(void *unused)
{
dAllocateODEDataForThread(dAllocateFlagCollisionData);
if (SDL_SetThreadPriority(SDL_THREAD_PRIORITY_HIGH))
{
//SDL_perror("SDL_SetThreadPriority");
}
while (!Quit)
{
if (SDL_LockMutex(Mutex))
{
SDL_perror("SDL_LockMutex");
break;
}
if (SDL_CondWait(Cond, Mutex))
{
SDL_perror("SDL_CondWait");
break;
}
PushEvent(UPDATE);
dSpaceCollide(Space, 0, &Near);
dWorldStep(World, Step);
dJointGroupEmpty(Group);
SDL_UnlockMutex(Mutex);
}
dCleanupODEAllDataForThread();
return 0;
}
signed ODE_Unlock()
{
if (SDL_UnlockMutex(Mutex))
{
SDL_perror("SDL_UnlockMutex");
return -1;
}
return 0;
}
static signed LoadCubeFace(int face, const char *path)
{
SDL_Surface *image = IMG_Load(path);
if (!image)
{
SDL_perror("IMG_Load");
return -1;
}
signed error = LoadCubeMap(image, face, GL_RGB);
SDL_FreeSurface(image);
return error;
}
static Uint32 SimulationTimer(Uint32 interval, void *unused)
{
if (SDL_LockMutex(Mutex))
{
SDL_perror("SDL_LockMutex");
}
else
if (SDL_CondSignal(Cond))
{
SDL_perror("SDL_CondSignal");
}
else
{
SDL_UnlockMutex(Mutex);
}
double elapsed = interval;
double approx = elapsed / 1000;
double error = Step - approx;
double step = Step + error;
return Uint32(1000*step);
}
signed ODE_Init()
{
Quit = SDL_FALSE;
dInitODE2(dInitFlagManualThreadCleanup);
dSetMessageHandler(Error);
dSetDebugHandler(Error);
dSetErrorHandler(Error);
World = dWorldCreate();
Space = dHashSpaceCreate(0);
Group = dJointGroupCreate(0);
Step = 1.0/50.0;
lua_getglobal(State, "World");
int table = lua_gettop(State);
if (!lua_isnil(State, table))
{
lua_pushnil(State);
while (lua_next(State, table))
{
const char *key = lua_tostring(State, -2);
#define tointeger lua_tointeger(State, -1)
#define toboolean lua_toboolean(State, -1)
#define tonumber lua_tonumber(State, -1)
if (!SDL_strcasecmp(key, "FPS"))
{
Step = 1.0/tonumber;
}
else
if (!SDL_strcasecmp(key, "ERP"))
{
dWorldSetERP(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "CFM"))
{
dWorldSetCFM(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "LINEAR_DAMPING"))
{
dWorldSetLinearDamping(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "LINEAR_DAMPING_THRESHOLD"))
{
dWorldSetLinearDampingThreshold(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "ANGULAR_DAMPING"))
{
dWorldSetAngularDamping(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "ANGULAR_DAMPING_THRESHOLD"))
{
dWorldSetAngularDampingThreshold(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "MAX_ANGULAR_SPEED"))
{
dWorldSetMaxAngularSpeed(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "CONTACT_MAX_CORRECTING_VELOCITY"))
{
dWorldSetContactMaxCorrectingVel(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "CONTACT_SURFACE_LAYER"))
{
dWorldSetContactSurfaceLayer(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "AUTO_DISABLE"))
{
dWorldSetAutoDisableFlag(World, toboolean);
}
else
if (!SDL_strcasecmp(key, "AUTO_DISABLE_LINEAR_THRESHOLD"))
{
dWorldSetAutoDisableLinearThreshold(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "AUTO_DISABLE_ANGULAR_THRESHOLD"))
{
dWorldSetAutoDisableAngularThreshold(World, tonumber);
}
else
if (!SDL_strcasecmp(key, "AUTO_DISABLE_STEPS"))
{
dWorldSetAutoDisableSteps(World, tointeger);
}
else
if (!SDL_strcasecmp(key, "AUTO_DISABLE_TIME"))
{
dWorldSetAutoDisableTime(World, tonumber);
}
else
{
SDL_Log("World: %s does not match", key);
}
lua_pop(State, 1);
}
}
lua_pop(State, 1);
Cond = SDL_CreateCond();
if (!Cond)
{
dWorldDestroy(World);
dSpaceDestroy(Space);
dJointGroupDestroy(Group);
SDL_perror("SDL_CreateCond");
return SDL_SetError("cannot create simulation signal");
}
Mutex = SDL_CreateMutex();
if (!Mutex)
{
dWorldDestroy(World);
dSpaceDestroy(Space);
dJointGroupDestroy(Group);
SDL_DestroyCond(Cond);
SDL_perror("SDL_CreateMutex");
return SDL_SetError("cannot create simulation mutex");
}
Thread = SDL_CreateThread(SimulationThread, "ODE", NULL);
if (!Thread)
{
dWorldDestroy(World);
dSpaceDestroy(Space);
dJointGroupDestroy(Group);
SDL_DestroyCond(Cond);
SDL_DestroyMutex(Mutex);
SDL_perror("SDL_CreateThread");
return SDL_SetError("cannot create simulation thread");
}
TimerID = SDL_AddTimer(Uint32(1000*Step), SimulationTimer, NULL);
if (!TimerID)
{
dWorldDestroy(World);
dSpaceDestroy(Space);
dJointGroupDestroy(Group);
SDL_DestroyCond(Cond);
SDL_DestroyMutex(Mutex);
SDL_perror("SDL_AddTimer");
return SDL_SetError("cannot create simulation timer");
}
return 0;
}
