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;
}
