bool physics_init(void) { printlog(0, "Initiating physics"); dInitODE2(0); dAllocateODEDataForThread(dAllocateFlagBasicData | dAllocateFlagCollisionData); world = dWorldCreate(); //TODO: move to "dQuadTreeSpaceCreate()" - much better performance!!! printlog(1, "TODO: create world space using dQuadTreeSpaceCreate() - much better performance!"); space = dHashSpaceCreate(0); contactgroup = dJointGroupCreate(0); dWorldSetQuickStepNumIterations (world, internal.iterations); //autodisable dWorldSetAutoDisableFlag (world, 1); dWorldSetAutoDisableLinearThreshold (world, internal.dis_linear); dWorldSetAutoDisableAngularThreshold (world, internal.dis_angular); dWorldSetAutoDisableSteps (world, internal.dis_steps); dWorldSetAutoDisableTime (world, internal.dis_time); return true; }
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; }