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world.c

/*
Copyright (C) 1996-1997 Id Software, Inc.

This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

*/
// world.c -- world query functions

#include "quakedef.h"
#include "clvm_cmds.h"
#include "cl_collision.h"

/*

entities never clip against themselves, or their owner

line of sight checks trace->inopen and trace->inwater, but bullets don't

*/

static void World_Physics_Init(void);
void World_Init(void)
{
      Collision_Init();
      World_Physics_Init();
}

static void World_Physics_Shutdown(void);
void World_Shutdown(void)
{
      World_Physics_Shutdown();
}

static void World_Physics_Start(world_t *world);
void World_Start(world_t *world)
{
      World_Physics_Start(world);
}

static void World_Physics_End(world_t *world);
void World_End(world_t *world)
{
      World_Physics_End(world);
}

//============================================================================

/// World_ClearLink is used for new headnodes
void World_ClearLink (link_t *l)
{
      l->entitynumber = 0;
      l->prev = l->next = l;
}

void World_RemoveLink (link_t *l)
{
      l->next->prev = l->prev;
      l->prev->next = l->next;
}

void World_InsertLinkBefore (link_t *l, link_t *before, int entitynumber)
{
      l->entitynumber = entitynumber;
      l->next = before;
      l->prev = before->prev;
      l->prev->next = l;
      l->next->prev = l;
}

/*
===============================================================================

ENTITY AREA CHECKING

===============================================================================
*/

void World_PrintAreaStats(world_t *world, const char *worldname)
{
      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);
      world->areagrid_stats_calls = 0;
      world->areagrid_stats_nodechecks = 0;
      world->areagrid_stats_entitychecks = 0;
}

/*
===============
World_SetSize

===============
*/
void World_SetSize(world_t *world, const char *filename, const vec3_t mins, const vec3_t maxs)
{
      int i;

      strlcpy(world->filename, filename, sizeof(world->filename));
      VectorCopy(mins, world->mins);
      VectorCopy(maxs, world->maxs);

      // the areagrid_marknumber is not allowed to be 0
      if (world->areagrid_marknumber < 1)
            world->areagrid_marknumber = 1;
      // choose either the world box size, or a larger box to ensure the grid isn't too fine
      world->areagrid_size[0] = max(world->maxs[0] - world->mins[0], AREA_GRID * sv_areagrid_mingridsize.value);
      world->areagrid_size[1] = max(world->maxs[1] - world->mins[1], AREA_GRID * sv_areagrid_mingridsize.value);
      world->areagrid_size[2] = max(world->maxs[2] - world->mins[2], AREA_GRID * sv_areagrid_mingridsize.value);
      // figure out the corners of such a box, centered at the center of the world box
      world->areagrid_mins[0] = (world->mins[0] + world->maxs[0] - world->areagrid_size[0]) * 0.5f;
      world->areagrid_mins[1] = (world->mins[1] + world->maxs[1] - world->areagrid_size[1]) * 0.5f;
      world->areagrid_mins[2] = (world->mins[2] + world->maxs[2] - world->areagrid_size[2]) * 0.5f;
      world->areagrid_maxs[0] = (world->mins[0] + world->maxs[0] + world->areagrid_size[0]) * 0.5f;
      world->areagrid_maxs[1] = (world->mins[1] + world->maxs[1] + world->areagrid_size[1]) * 0.5f;
      world->areagrid_maxs[2] = (world->mins[2] + world->maxs[2] + world->areagrid_size[2]) * 0.5f;
      // now calculate the actual useful info from that
      VectorNegate(world->areagrid_mins, world->areagrid_bias);
      world->areagrid_scale[0] = AREA_GRID / world->areagrid_size[0];
      world->areagrid_scale[1] = AREA_GRID / world->areagrid_size[1];
      world->areagrid_scale[2] = AREA_GRID / world->areagrid_size[2];
      World_ClearLink(&world->areagrid_outside);
      for (i = 0;i < AREA_GRIDNODES;i++)
            World_ClearLink(&world->areagrid[i]);
      if (developer_extra.integer)
            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);
}

/*
===============
World_UnlinkAll

===============
*/
void World_UnlinkAll(world_t *world)
{
      int i;
      link_t *grid;
      // unlink all entities one by one
      grid = &world->areagrid_outside;
      while (grid->next != grid)
            World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
      for (i = 0, grid = world->areagrid;i < AREA_GRIDNODES;i++, grid++)
            while (grid->next != grid)
                  World_UnlinkEdict(PRVM_EDICT_NUM(grid->next->entitynumber));
}

/*
===============

===============
*/
void World_UnlinkEdict(prvm_edict_t *ent)
{
      int i;
      for (i = 0;i < ENTITYGRIDAREAS;i++)
      {
            if (ent->priv.server->areagrid[i].prev)
            {
                  World_RemoveLink (&ent->priv.server->areagrid[i]);
                  ent->priv.server->areagrid[i].prev = ent->priv.server->areagrid[i].next = NULL;
            }
      }
}

int World_EntitiesInBox(world_t *world, const vec3_t mins, const vec3_t maxs, int maxlist, prvm_edict_t **list)
{
      int numlist;
      link_t *grid;
      link_t *l;
      prvm_edict_t *ent;
      int igrid[3], igridmins[3], igridmaxs[3];

      // FIXME: if areagrid_marknumber wraps, all entities need their
      // ent->priv.server->areagridmarknumber reset
      world->areagrid_stats_calls++;
      world->areagrid_marknumber++;
      igridmins[0] = (int) floor((mins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
      igridmins[1] = (int) floor((mins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
      //igridmins[2] = (int) ((mins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
      igridmaxs[0] = (int) floor((maxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
      igridmaxs[1] = (int) floor((maxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
      //igridmaxs[2] = (int) ((maxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
      igridmins[0] = max(0, igridmins[0]);
      igridmins[1] = max(0, igridmins[1]);
      //igridmins[2] = max(0, igridmins[2]);
      igridmaxs[0] = min(AREA_GRID, igridmaxs[0]);
      igridmaxs[1] = min(AREA_GRID, igridmaxs[1]);
      //igridmaxs[2] = min(AREA_GRID, igridmaxs[2]);

      numlist = 0;
      // add entities not linked into areagrid because they are too big or
      // outside the grid bounds
      if (world->areagrid_outside.next != &world->areagrid_outside)
      {
            grid = &world->areagrid_outside;
            for (l = grid->next;l != grid;l = l->next)
            {
                  ent = PRVM_EDICT_NUM(l->entitynumber);
                  if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
                  {
                        ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
                        if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
                        {
                              if (numlist < maxlist)
                                    list[numlist] = ent;
                              numlist++;
                        }
                        world->areagrid_stats_entitychecks++;
                  }
            }
      }
      // add grid linked entities
      for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
      {
            grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
            for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++)
            {
                  if (grid->next != grid)
                  {
                        for (l = grid->next;l != grid;l = l->next)
                        {
                              ent = PRVM_EDICT_NUM(l->entitynumber);
                              if (ent->priv.server->areagridmarknumber != world->areagrid_marknumber)
                              {
                                    ent->priv.server->areagridmarknumber = world->areagrid_marknumber;
                                    if (!ent->priv.server->free && BoxesOverlap(mins, maxs, ent->priv.server->areamins, ent->priv.server->areamaxs))
                                    {
                                          if (numlist < maxlist)
                                                list[numlist] = ent;
                                          numlist++;
                                    }
                                    //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]);
                              }
                              world->areagrid_stats_entitychecks++;
                        }
                  }
            }
      }
      return numlist;
}

void World_LinkEdict_AreaGrid(world_t *world, prvm_edict_t *ent)
{
      link_t *grid;
      int igrid[3], igridmins[3], igridmaxs[3], gridnum, entitynumber = PRVM_NUM_FOR_EDICT(ent);

      if (entitynumber <= 0 || entitynumber >= prog->max_edicts || PRVM_EDICT_NUM(entitynumber) != ent)
      {
            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);
            return;
      }

      igridmins[0] = (int) floor((ent->priv.server->areamins[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]);
      igridmins[1] = (int) floor((ent->priv.server->areamins[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]);
      //igridmins[2] = (int) floor((ent->priv.server->areamins[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]);
      igridmaxs[0] = (int) floor((ent->priv.server->areamaxs[0] + world->areagrid_bias[0]) * world->areagrid_scale[0]) + 1;
      igridmaxs[1] = (int) floor((ent->priv.server->areamaxs[1] + world->areagrid_bias[1]) * world->areagrid_scale[1]) + 1;
      //igridmaxs[2] = (int) floor((ent->priv.server->areamaxs[2] + world->areagrid_bias[2]) * world->areagrid_scale[2]) + 1;
      if (igridmins[0] < 0 || igridmaxs[0] > AREA_GRID || igridmins[1] < 0 || igridmaxs[1] > AREA_GRID || ((igridmaxs[0] - igridmins[0]) * (igridmaxs[1] - igridmins[1])) > ENTITYGRIDAREAS)
      {
            // wow, something outside the grid, store it as such
            World_InsertLinkBefore (&ent->priv.server->areagrid[0], &world->areagrid_outside, entitynumber);
            return;
      }

      gridnum = 0;
      for (igrid[1] = igridmins[1];igrid[1] < igridmaxs[1];igrid[1]++)
      {
            grid = world->areagrid + igrid[1] * AREA_GRID + igridmins[0];
            for (igrid[0] = igridmins[0];igrid[0] < igridmaxs[0];igrid[0]++, grid++, gridnum++)
                  World_InsertLinkBefore (&ent->priv.server->areagrid[gridnum], grid, entitynumber);
      }
}

/*
===============
World_LinkEdict

===============
*/
void World_LinkEdict(world_t *world, prvm_edict_t *ent, const vec3_t mins, const vec3_t maxs)
{
      // unlink from old position first
      if (ent->priv.server->areagrid[0].prev)
            World_UnlinkEdict(ent);

      // don't add the world
      if (ent == prog->edicts)
            return;

      // don't add free entities
      if (ent->priv.server->free)
            return;

      VectorCopy(mins, ent->priv.server->areamins);
      VectorCopy(maxs, ent->priv.server->areamaxs);
      World_LinkEdict_AreaGrid(world, ent);
}




//============================================================================
// physics engine support
//============================================================================

#ifndef ODE_STATIC
# define ODE_DYNAMIC 1
#endif

#if defined(ODE_STATIC) || defined(ODE_DYNAMIC)
#define USEODE 1
#endif

// recent ODE trunk has dWorldStepFast1 removed
//#define ODE_USE_STEPFAST

#ifdef USEODE
cvar_t physics_ode_quadtree_depth = {0, "physics_ode_quadtree_depth","5", "desired subdivision level of quadtree culling space"};
cvar_t physics_ode_contactsurfacelayer = {0, "physics_ode_contactsurfacelayer","1", "allows objects to overlap this many units to reduce jitter"};
cvar_t physics_ode_worldstep = {0, "physics_ode_worldstep","2", "step function to use, 0 - dWorldStep, 1 - dWorldStepFast1, 2 - dWorldQuickStep"};
cvar_t physics_ode_worldstep_iterations = {0, "physics_ode_worldstep_iterations", "20", "parameter to dWorldQuickStep and dWorldStepFast1"};
cvar_t physics_ode_contact_mu = {0, "physics_ode_contact_mu", "1", "contact solver mu parameter - friction pyramid approximation 1 (see ODE User Guide)"};
cvar_t physics_ode_contact_erp = {0, "physics_ode_contact_erp", "0.96", "contact solver erp parameter - Error Restitution Percent (see ODE User Guide)"};
cvar_t physics_ode_contact_cfm = {0, "physics_ode_contact_cfm", "0", "contact solver cfm parameter - Constraint Force Mixing (see ODE User Guide)"};
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"};
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"};
cvar_t physics_ode_world_damping = {0, "physics_ode_world_damping", "1", "enabled damping scale (see ODE User Guide), this scales all damping values, be aware that behavior depends of step type"};
cvar_t physics_ode_world_damping_linear = {0, "physics_ode_world_damping_linear", "0.005", "world linear damping scale (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_damping_linear_threshold = {0, "physics_ode_world_damping_linear_threshold", "0.01", "world linear damping threshold (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_damping_angular = {0, "physics_ode_world_damping_angular", "0.005", "world angular damping scale (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_world_damping_angular_threshold = {0, "physics_ode_world_damping_angular_threshold", "0.01", "world angular damping threshold (see ODE User Guide); use defaults when set to -1"};
cvar_t physics_ode_iterationsperframe = {0, "physics_ode_iterationsperframe", "1", "divisor for time step, runs multiple physics steps per frame"};
cvar_t physics_ode_constantstep = {0, "physics_ode_constantstep", "1", "use constant step (sys_ticrate value) instead of variable step which tends to increase stability"};
cvar_t physics_ode_autodisable = {0, "physics_ode_autodisable", "1", "automatic disabling of objects which dont move for long period of time, makes object stacking a lot faster"};
cvar_t physics_ode_autodisable_steps = {0, "physics_ode_autodisable_steps", "10", "how many steps object should be dormant to be autodisabled"};
cvar_t physics_ode_autodisable_time = {0, "physics_ode_autodisable_time", "0", "how many seconds object should be dormant to be autodisabled"};
cvar_t physics_ode_autodisable_threshold_linear = {0, "physics_ode_autodisable_threshold_linear", "0.2", "body will be disabled if it's linear move below this value"};
cvar_t physics_ode_autodisable_threshold_angular = {0, "physics_ode_autodisable_threshold_angular", "0.3", "body will be disabled if it's angular move below this value"};
cvar_t physics_ode_autodisable_threshold_samples = {0, "physics_ode_autodisable_threshold_samples", "5", "average threshold with this number of samples"};
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, be aware that behavior depends of step type"};
cvar_t physics_ode_spinlimit = {0, "physics_ode_spinlimit", "10000", "reset spin velocity if it gets too large"};
cvar_t physics_ode_trick_fixnan = {0, "physics_ode_trick_fixnan", "1", "engine trick that checks and fixes NaN velocity/origin/angles on objects, a value of 2 makes console prints on each fix"};
cvar_t physics_ode_printstats = {0, "physics_ode_printstats", "0", "print ODE stats each frame"};
cvar_t physics_ode = {0, "physics_ode", "0", "run ODE physics (VERY experimental and potentially buggy)"};

// LordHavoc: this large chunk of definitions comes from the ODE library
// include files.

#ifdef ODE_STATIC
#include "ode/ode.h"
#else
#ifdef WINAPI
// ODE does not use WINAPI
#define ODE_API
#else
#define ODE_API
#endif

// note: dynamic builds of ODE tend to be double precision, this is not used
// for static builds
typedef double dReal;

typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];

struct dxWorld;         /* dynamics world */
struct dxSpace;         /* collision space */
struct dxBody;          /* rigid body (dynamics object) */
struct dxGeom;          /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;
struct dxTriMeshData;

#define dInfinity 3.402823466e+38f

typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
typedef struct dxTriMeshData *dTriMeshDataID;

00401 typedef struct dJointFeedback
{
      dVector3 f1;            /* force applied to body 1 */
      dVector3 t1;            /* torque applied to body 1 */
      dVector3 f2;            /* force applied to body 2 */
      dVector3 t2;            /* torque applied to body 2 */
}
dJointFeedback;

typedef enum dJointType
{
      dJointTypeNone = 0,
      dJointTypeBall,
      dJointTypeHinge,
      dJointTypeSlider,
      dJointTypeContact,
      dJointTypeUniversal,
      dJointTypeHinge2,
      dJointTypeFixed,
      dJointTypeNull,
      dJointTypeAMotor,
      dJointTypeLMotor,
      dJointTypePlane2D,
      dJointTypePR,
      dJointTypePU,
      dJointTypePiston
}
dJointType;

#define D_ALL_PARAM_NAMES(start) \
  /* parameters for limits and motors */ \
  dParamLoStop = start, \
  dParamHiStop, \
  dParamVel, \
  dParamFMax, \
  dParamFudgeFactor, \
  dParamBounce, \
  dParamCFM, \
  dParamStopERP, \
  dParamStopCFM, \
  /* parameters for suspension */ \
  dParamSuspensionERP, \
  dParamSuspensionCFM, \
  dParamERP, \

#define D_ALL_PARAM_NAMES_X(start,x) \
  /* parameters for limits and motors */ \
  dParamLoStop ## x = start, \
  dParamHiStop ## x, \
  dParamVel ## x, \
  dParamFMax ## x, \
  dParamFudgeFactor ## x, \
  dParamBounce ## x, \
  dParamCFM ## x, \
  dParamStopERP ## x, \
  dParamStopCFM ## x, \
  /* parameters for suspension */ \
  dParamSuspensionERP ## x, \
  dParamSuspensionCFM ## x, \
  dParamERP ## x,

enum {
  D_ALL_PARAM_NAMES(0)
  D_ALL_PARAM_NAMES_X(0x100,2)
  D_ALL_PARAM_NAMES_X(0x200,3)

  /* add a multiple of this constant to the basic parameter numbers to get
   * the parameters for the second, third etc axes.
   */
  dParamGroup=0x100
};

00473 typedef struct dMass
{
      dReal mass;
      dVector3 c;
      dMatrix3 I;
}
dMass;

enum
{
      dContactMu2             = 0x001,
      dContactFDir1           = 0x002,
      dContactBounce          = 0x004,
      dContactSoftERP         = 0x008,
      dContactSoftCFM         = 0x010,
      dContactMotion1         = 0x020,
      dContactMotion2         = 0x040,
      dContactMotionN         = 0x080,
      dContactSlip1           = 0x100,
      dContactSlip2           = 0x200,
      
      dContactApprox0         = 0x0000,
      dContactApprox1_1 = 0x1000,
      dContactApprox1_2 = 0x2000,
      dContactApprox1         = 0x3000
};

00500 typedef struct dSurfaceParameters
{
      /* must always be defined */
      int mode;
      dReal mu;

      /* only defined if the corresponding flag is set in mode */
      dReal mu2;
      dReal bounce;
      dReal bounce_vel;
      dReal soft_erp;
      dReal soft_cfm;
      dReal motion1,motion2,motionN;
      dReal slip1,slip2;
} dSurfaceParameters;

00516 typedef struct dContactGeom
{
00518       dVector3 pos;          ///< contact position
00519       dVector3 normal;       ///< normal vector
00520       dReal depth;           ///< penetration depth
00521       dGeomID g1,g2;         ///< the colliding geoms
00522       int side1,side2;       ///< (to be documented)
}
dContactGeom;

00526 typedef struct dContact
{
      dSurfaceParameters surface;
      dContactGeom geom;
      dVector3 fdir1;
}
dContact;

typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);

// SAP
// Order XZY or ZXY usually works best, if your Y is up.
#define dSAP_AXES_XYZ  ((0)|(1<<2)|(2<<4))
#define dSAP_AXES_XZY  ((0)|(2<<2)|(1<<4))
#define dSAP_AXES_YXZ  ((1)|(0<<2)|(2<<4))
#define dSAP_AXES_YZX  ((1)|(2<<2)|(0<<4))
#define dSAP_AXES_ZXY  ((2)|(0<<2)|(1<<4))
#define dSAP_AXES_ZYX  ((2)|(1<<2)|(0<<4))

//const char*     (ODE_API *dGetConfiguration)(void);
int             (ODE_API *dCheckConfiguration)( const char* token );
int             (ODE_API *dInitODE)(void);
//int             (ODE_API *dInitODE2)(unsigned int uiInitFlags);
//int             (ODE_API *dAllocateODEDataForThread)(unsigned int uiAllocateFlags);
//void            (ODE_API *dCleanupODEAllDataForThread)(void);
void            (ODE_API *dCloseODE)(void);

//int             (ODE_API *dMassCheck)(const dMass *m);
//void            (ODE_API *dMassSetZero)(dMass *);
//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);
//void            (ODE_API *dMassSetSphere)(dMass *, dReal density, dReal radius);
void            (ODE_API *dMassSetSphereTotal)(dMass *, dReal total_mass, dReal radius);
//void            (ODE_API *dMassSetCapsule)(dMass *, dReal density, int direction, dReal radius, dReal length);
void            (ODE_API *dMassSetCapsuleTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void            (ODE_API *dMassSetCylinder)(dMass *, dReal density, int direction, dReal radius, dReal length);
//void            (ODE_API *dMassSetCylinderTotal)(dMass *, dReal total_mass, int direction, dReal radius, dReal length);
//void            (ODE_API *dMassSetBox)(dMass *, dReal density, dReal lx, dReal ly, dReal lz);
void            (ODE_API *dMassSetBoxTotal)(dMass *, dReal total_mass, dReal lx, dReal ly, dReal lz);
//void            (ODE_API *dMassSetTrimesh)(dMass *, dReal density, dGeomID g);
//void            (ODE_API *dMassSetTrimeshTotal)(dMass *m, dReal total_mass, dGeomID g);
//void            (ODE_API *dMassAdjust)(dMass *, dReal newmass);
//void            (ODE_API *dMassTranslate)(dMass *, dReal x, dReal y, dReal z);
//void            (ODE_API *dMassRotate)(dMass *, const dMatrix3 R);
//void            (ODE_API *dMassAdd)(dMass *a, const dMass *b);
//
dWorldID        (ODE_API *dWorldCreate)(void);
void            (ODE_API *dWorldDestroy)(dWorldID world);
void            (ODE_API *dWorldSetGravity)(dWorldID, dReal x, dReal y, dReal z);
void            (ODE_API *dWorldGetGravity)(dWorldID, dVector3 gravity);
void            (ODE_API *dWorldSetERP)(dWorldID, dReal erp);
//dReal           (ODE_API *dWorldGetERP)(dWorldID);
void            (ODE_API *dWorldSetCFM)(dWorldID, dReal cfm);
//dReal           (ODE_API *dWorldGetCFM)(dWorldID);
void            (ODE_API *dWorldStep)(dWorldID, dReal stepsize);
//void            (ODE_API *dWorldImpulseToForce)(dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force);
void            (ODE_API *dWorldQuickStep)(dWorldID w, dReal stepsize);
void            (ODE_API *dWorldSetQuickStepNumIterations)(dWorldID, int num);
//int             (ODE_API *dWorldGetQuickStepNumIterations)(dWorldID);
//void            (ODE_API *dWorldSetQuickStepW)(dWorldID, dReal over_relaxation);
//dReal           (ODE_API *dWorldGetQuickStepW)(dWorldID);
//void            (ODE_API *dWorldSetContactMaxCorrectingVel)(dWorldID, dReal vel);
//dReal           (ODE_API *dWorldGetContactMaxCorrectingVel)(dWorldID);
void            (ODE_API *dWorldSetContactSurfaceLayer)(dWorldID, dReal depth);
//dReal           (ODE_API *dWorldGetContactSurfaceLayer)(dWorldID);
#ifdef ODE_USE_STEPFAST
void            (ODE_API *dWorldStepFast1)(dWorldID, dReal stepsize, int maxiterations);
#endif
//void            (ODE_API *dWorldSetAutoEnableDepthSF1)(dWorldID, int autoEnableDepth);
//int             (ODE_API *dWorldGetAutoEnableDepthSF1)(dWorldID);
//dReal           (ODE_API *dWorldGetAutoDisableLinearThreshold)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableLinearThreshold)(dWorldID, dReal linear_threshold);
//dReal           (ODE_API *dWorldGetAutoDisableAngularThreshold)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableAngularThreshold)(dWorldID, dReal angular_threshold);
//dReal           (ODE_API *dWorldGetAutoDisableLinearAverageThreshold)(dWorldID);
//void            (ODE_API *dWorldSetAutoDisableLinearAverageThreshold)(dWorldID, dReal linear_average_threshold);
//dReal           (ODE_API *dWorldGetAutoDisableAngularAverageThreshold)(dWorldID);
//void            (ODE_API *dWorldSetAutoDisableAngularAverageThreshold)(dWorldID, dReal angular_average_threshold);
//int             (ODE_API *dWorldGetAutoDisableAverageSamplesCount)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableAverageSamplesCount)(dWorldID, unsigned int average_samples_count );
//int             (ODE_API *dWorldGetAutoDisableSteps)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableSteps)(dWorldID, int steps);
//dReal           (ODE_API *dWorldGetAutoDisableTime)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableTime)(dWorldID, dReal time);
//int             (ODE_API *dWorldGetAutoDisableFlag)(dWorldID);
void            (ODE_API *dWorldSetAutoDisableFlag)(dWorldID, int do_auto_disable);
//dReal           (ODE_API *dWorldGetLinearDampingThreshold)(dWorldID w);
void            (ODE_API *dWorldSetLinearDampingThreshold)(dWorldID w, dReal threshold);
//dReal           (ODE_API *dWorldGetAngularDampingThreshold)(dWorldID w);
void            (ODE_API *dWorldSetAngularDampingThreshold)(dWorldID w, dReal threshold);
//dReal           (ODE_API *dWorldGetLinearDamping)(dWorldID w);
void            (ODE_API *dWorldSetLinearDamping)(dWorldID w, dReal scale);
//dReal           (ODE_API *dWorldGetAngularDamping)(dWorldID w);
void            (ODE_API *dWorldSetAngularDamping)(dWorldID w, dReal scale);
//void            (ODE_API *dWorldSetDamping)(dWorldID w, dReal linear_scale, dReal angular_scale);
//dReal           (ODE_API *dWorldGetMaxAngularSpeed)(dWorldID w);
//void            (ODE_API *dWorldSetMaxAngularSpeed)(dWorldID w, dReal max_speed);
//dReal           (ODE_API *dBodyGetAutoDisableLinearThreshold)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableLinearThreshold)(dBodyID, dReal linear_average_threshold);
//dReal           (ODE_API *dBodyGetAutoDisableAngularThreshold)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableAngularThreshold)(dBodyID, dReal angular_average_threshold);
//int             (ODE_API *dBodyGetAutoDisableAverageSamplesCount)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableAverageSamplesCount)(dBodyID, unsigned int average_samples_count);
//int             (ODE_API *dBodyGetAutoDisableSteps)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableSteps)(dBodyID, int steps);
//dReal           (ODE_API *dBodyGetAutoDisableTime)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableTime)(dBodyID, dReal time);
//int             (ODE_API *dBodyGetAutoDisableFlag)(dBodyID);
//void            (ODE_API *dBodySetAutoDisableFlag)(dBodyID, int do_auto_disable);
//void            (ODE_API *dBodySetAutoDisableDefaults)(dBodyID);
//dWorldID        (ODE_API *dBodyGetWorld)(dBodyID);
dBodyID         (ODE_API *dBodyCreate)(dWorldID);
void            (ODE_API *dBodyDestroy)(dBodyID);
void            (ODE_API *dBodySetData)(dBodyID, void *data);
void *          (ODE_API *dBodyGetData)(dBodyID);
void            (ODE_API *dBodySetPosition)(dBodyID, dReal x, dReal y, dReal z);
void            (ODE_API *dBodySetRotation)(dBodyID, const dMatrix3 R);
//void            (ODE_API *dBodySetQuaternion)(dBodyID, const dQuaternion q);
void            (ODE_API *dBodySetLinearVel)(dBodyID, dReal x, dReal y, dReal z);
void            (ODE_API *dBodySetAngularVel)(dBodyID, dReal x, dReal y, dReal z);
const dReal *   (ODE_API *dBodyGetPosition)(dBodyID);
//void            (ODE_API *dBodyCopyPosition)(dBodyID body, dVector3 pos);
const dReal *   (ODE_API *dBodyGetRotation)(dBodyID);
//void            (ODE_API *dBodyCopyRotation)(dBodyID, dMatrix3 R);
//const dReal *   (ODE_API *dBodyGetQuaternion)(dBodyID);
//void            (ODE_API *dBodyCopyQuaternion)(dBodyID body, dQuaternion quat);
const dReal *   (ODE_API *dBodyGetLinearVel)(dBodyID);
const dReal *   (ODE_API *dBodyGetAngularVel)(dBodyID);
void            (ODE_API *dBodySetMass)(dBodyID, const dMass *mass);
//void            (ODE_API *dBodyGetMass)(dBodyID, dMass *mass);
//void            (ODE_API *dBodyAddForce)(dBodyID, dReal fx, dReal fy, dReal fz);
//void            (ODE_API *dBodyAddTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void            (ODE_API *dBodyAddRelForce)(dBodyID, dReal fx, dReal fy, dReal fz);
void            (ODE_API *dBodyAddRelTorque)(dBodyID, dReal fx, dReal fy, dReal fz);
//void            (ODE_API *dBodyAddForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
void            (ODE_API *dBodyAddForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void            (ODE_API *dBodyAddRelForceAtPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//void            (ODE_API *dBodyAddRelForceAtRelPos)(dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);
//const dReal *   (ODE_API *dBodyGetForce)(dBodyID);
//const dReal *   (ODE_API *dBodyGetTorque)(dBodyID);
//void            (ODE_API *dBodySetForce)(dBodyID b, dReal x, dReal y, dReal z);
//void            (ODE_API *dBodySetTorque)(dBodyID b, dReal x, dReal y, dReal z);
//void            (ODE_API *dBodyGetRelPointPos)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodyGetRelPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodyGetPointVel)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodyGetPosRelPoint)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodyVectorToWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodyVectorFromWorld)(dBodyID, dReal px, dReal py, dReal pz, dVector3 result);
//void            (ODE_API *dBodySetFiniteRotationMode)(dBodyID, int mode);
//void            (ODE_API *dBodySetFiniteRotationAxis)(dBodyID, dReal x, dReal y, dReal z);
//int             (ODE_API *dBodyGetFiniteRotationMode)(dBodyID);
//void            (ODE_API *dBodyGetFiniteRotationAxis)(dBodyID, dVector3 result);
int             (ODE_API *dBodyGetNumJoints)(dBodyID b);
dJointID        (ODE_API *dBodyGetJoint)(dBodyID, int index);
//void            (ODE_API *dBodySetDynamic)(dBodyID);
//void            (ODE_API *dBodySetKinematic)(dBodyID);
//int             (ODE_API *dBodyIsKinematic)(dBodyID);
void            (ODE_API *dBodyEnable)(dBodyID);
void            (ODE_API *dBodyDisable)(dBodyID);
int             (ODE_API *dBodyIsEnabled)(dBodyID);
void            (ODE_API *dBodySetGravityMode)(dBodyID b, int mode);
int             (ODE_API *dBodyGetGravityMode)(dBodyID b);
//void            (*dBodySetMovedCallback)(dBodyID b, void(ODE_API *callback)(dBodyID));
//dGeomID         (ODE_API *dBodyGetFirstGeom)(dBodyID b);
//dGeomID         (ODE_API *dBodyGetNextGeom)(dGeomID g);
//void            (ODE_API *dBodySetDampingDefaults)(dBodyID b);
//dReal           (ODE_API *dBodyGetLinearDamping)(dBodyID b);
//void            (ODE_API *dBodySetLinearDamping)(dBodyID b, dReal scale);
//dReal           (ODE_API *dBodyGetAngularDamping)(dBodyID b);
//void            (ODE_API *dBodySetAngularDamping)(dBodyID b, dReal scale);
//void            (ODE_API *dBodySetDamping)(dBodyID b, dReal linear_scale, dReal angular_scale);
//dReal           (ODE_API *dBodyGetLinearDampingThreshold)(dBodyID b);
//void            (ODE_API *dBodySetLinearDampingThreshold)(dBodyID b, dReal threshold);
//dReal           (ODE_API *dBodyGetAngularDampingThreshold)(dBodyID b);
//void            (ODE_API *dBodySetAngularDampingThreshold)(dBodyID b, dReal threshold);
//dReal           (ODE_API *dBodyGetMaxAngularSpeed)(dBodyID b);
//void            (ODE_API *dBodySetMaxAngularSpeed)(dBodyID b, dReal max_speed);
//int             (ODE_API *dBodyGetGyroscopicMode)(dBodyID b);
//void            (ODE_API *dBodySetGyroscopicMode)(dBodyID b, int enabled);
dJointID        (ODE_API *dJointCreateBall)(dWorldID, dJointGroupID);
dJointID        (ODE_API *dJointCreateHinge)(dWorldID, dJointGroupID);
dJointID        (ODE_API *dJointCreateSlider)(dWorldID, dJointGroupID);
dJointID        (ODE_API *dJointCreateContact)(dWorldID, dJointGroupID, const dContact *);
dJointID        (ODE_API *dJointCreateHinge2)(dWorldID, dJointGroupID);
dJointID        (ODE_API *dJointCreateUniversal)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreatePR)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreatePU)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreatePiston)(dWorldID, dJointGroupID);
dJointID        (ODE_API *dJointCreateFixed)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreateNull)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreateAMotor)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreateLMotor)(dWorldID, dJointGroupID);
//dJointID        (ODE_API *dJointCreatePlane2D)(dWorldID, dJointGroupID);
void            (ODE_API *dJointDestroy)(dJointID);
dJointGroupID   (ODE_API *dJointGroupCreate)(int max_size);
void            (ODE_API *dJointGroupDestroy)(dJointGroupID);
void            (ODE_API *dJointGroupEmpty)(dJointGroupID);
//int             (ODE_API *dJointGetNumBodies)(dJointID);
void            (ODE_API *dJointAttach)(dJointID, dBodyID body1, dBodyID body2);
//void            (ODE_API *dJointEnable)(dJointID);
//void            (ODE_API *dJointDisable)(dJointID);
//int             (ODE_API *dJointIsEnabled)(dJointID);
void            (ODE_API *dJointSetData)(dJointID, void *data);
void *          (ODE_API *dJointGetData)(dJointID);
//dJointType      (ODE_API *dJointGetType)(dJointID);
dBodyID         (ODE_API *dJointGetBody)(dJointID, int index);
//void            (ODE_API *dJointSetFeedback)(dJointID, dJointFeedback *);
//dJointFeedback *(ODE_API *dJointGetFeedback)(dJointID);
void            (ODE_API *dJointSetBallAnchor)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetBallAnchor2)(dJointID, dReal x, dReal y, dReal z);
void            (ODE_API *dJointSetBallParam)(dJointID, int parameter, dReal value);
void            (ODE_API *dJointSetHingeAnchor)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetHingeAnchorDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void            (ODE_API *dJointSetHingeAxis)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetHingeAxisOffset)(dJointID j, dReal x, dReal y, dReal z, dReal angle);
void            (ODE_API *dJointSetHingeParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddHingeTorque)(dJointID joint, dReal torque);
void            (ODE_API *dJointSetSliderAxis)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetSliderAxisDelta)(dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
void            (ODE_API *dJointSetSliderParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddSliderForce)(dJointID joint, dReal force);
void            (ODE_API *dJointSetHinge2Anchor)(dJointID, dReal x, dReal y, dReal z);
void            (ODE_API *dJointSetHinge2Axis1)(dJointID, dReal x, dReal y, dReal z);
void            (ODE_API *dJointSetHinge2Axis2)(dJointID, dReal x, dReal y, dReal z);
void            (ODE_API *dJointSetHinge2Param)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddHinge2Torques)(dJointID joint, dReal torque1, dReal torque2);
void            (ODE_API *dJointSetUniversalAnchor)(dJointID, dReal x, dReal y, dReal z);
void            (ODE_API *dJointSetUniversalAxis1)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetUniversalAxis1Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void            (ODE_API *dJointSetUniversalAxis2)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetUniversalAxis2Offset)(dJointID, dReal x, dReal y, dReal z, dReal offset1, dReal offset2);
void            (ODE_API *dJointSetUniversalParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddUniversalTorques)(dJointID joint, dReal torque1, dReal torque2);
//void            (ODE_API *dJointSetPRAnchor)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPRAxis1)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPRAxis2)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPRParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddPRTorque)(dJointID j, dReal torque);
//void            (ODE_API *dJointSetPUAnchor)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPUAnchorOffset)(dJointID, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void            (ODE_API *dJointSetPUAxis1)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPUAxis2)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPUAxis3)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPUAxisP)(dJointID id, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPUParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddPUTorque)(dJointID j, dReal torque);
//void            (ODE_API *dJointSetPistonAnchor)(dJointID, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetPistonAnchorOffset)(dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz);
//void            (ODE_API *dJointSetPistonParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointAddPistonForce)(dJointID joint, dReal force);
//void            (ODE_API *dJointSetFixed)(dJointID);
//void            (ODE_API *dJointSetFixedParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointSetAMotorNumAxes)(dJointID, int num);
//void            (ODE_API *dJointSetAMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetAMotorAngle)(dJointID, int anum, dReal angle);
//void            (ODE_API *dJointSetAMotorParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointSetAMotorMode)(dJointID, int mode);
//void            (ODE_API *dJointAddAMotorTorques)(dJointID, dReal torque1, dReal torque2, dReal torque3);
//void            (ODE_API *dJointSetLMotorNumAxes)(dJointID, int num);
//void            (ODE_API *dJointSetLMotorAxis)(dJointID, int anum, int rel, dReal x, dReal y, dReal z);
//void            (ODE_API *dJointSetLMotorParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointSetPlane2DXParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointSetPlane2DYParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointSetPlane2DAngleParam)(dJointID, int parameter, dReal value);
//void            (ODE_API *dJointGetBallAnchor)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetBallAnchor2)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetBallParam)(dJointID, int parameter);
//void            (ODE_API *dJointGetHingeAnchor)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetHingeAnchor2)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetHingeAxis)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetHingeParam)(dJointID, int parameter);
//dReal           (ODE_API *dJointGetHingeAngle)(dJointID);
//dReal           (ODE_API *dJointGetHingeAngleRate)(dJointID);
//dReal           (ODE_API *dJointGetSliderPosition)(dJointID);
//dReal           (ODE_API *dJointGetSliderPositionRate)(dJointID);
//void            (ODE_API *dJointGetSliderAxis)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetSliderParam)(dJointID, int parameter);
//void            (ODE_API *dJointGetHinge2Anchor)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetHinge2Anchor2)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetHinge2Axis1)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetHinge2Axis2)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetHinge2Param)(dJointID, int parameter);
//dReal           (ODE_API *dJointGetHinge2Angle1)(dJointID);
//dReal           (ODE_API *dJointGetHinge2Angle1Rate)(dJointID);
//dReal           (ODE_API *dJointGetHinge2Angle2Rate)(dJointID);
//void            (ODE_API *dJointGetUniversalAnchor)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetUniversalAnchor2)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetUniversalAxis1)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetUniversalAxis2)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetUniversalParam)(dJointID, int parameter);
//void            (ODE_API *dJointGetUniversalAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal           (ODE_API *dJointGetUniversalAngle1)(dJointID);
//dReal           (ODE_API *dJointGetUniversalAngle2)(dJointID);
//dReal           (ODE_API *dJointGetUniversalAngle1Rate)(dJointID);
//dReal           (ODE_API *dJointGetUniversalAngle2Rate)(dJointID);
//void            (ODE_API *dJointGetPRAnchor)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetPRPosition)(dJointID);
//dReal           (ODE_API *dJointGetPRPositionRate)(dJointID);
//dReal           (ODE_API *dJointGetPRAngle)(dJointID);
//dReal           (ODE_API *dJointGetPRAngleRate)(dJointID);
//void            (ODE_API *dJointGetPRAxis1)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPRAxis2)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetPRParam)(dJointID, int parameter);
//void            (ODE_API *dJointGetPUAnchor)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetPUPosition)(dJointID);
//dReal           (ODE_API *dJointGetPUPositionRate)(dJointID);
//void            (ODE_API *dJointGetPUAxis1)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPUAxis2)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPUAxis3)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPUAxisP)(dJointID id, dVector3 result);
//void            (ODE_API *dJointGetPUAngles)(dJointID, dReal *angle1, dReal *angle2);
//dReal           (ODE_API *dJointGetPUAngle1)(dJointID);
//dReal           (ODE_API *dJointGetPUAngle1Rate)(dJointID);
//dReal           (ODE_API *dJointGetPUAngle2)(dJointID);
//dReal           (ODE_API *dJointGetPUAngle2Rate)(dJointID);
//dReal           (ODE_API *dJointGetPUParam)(dJointID, int parameter);
//dReal           (ODE_API *dJointGetPistonPosition)(dJointID);
//dReal           (ODE_API *dJointGetPistonPositionRate)(dJointID);
//dReal           (ODE_API *dJointGetPistonAngle)(dJointID);
//dReal           (ODE_API *dJointGetPistonAngleRate)(dJointID);
//void            (ODE_API *dJointGetPistonAnchor)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPistonAnchor2)(dJointID, dVector3 result);
//void            (ODE_API *dJointGetPistonAxis)(dJointID, dVector3 result);
//dReal           (ODE_API *dJointGetPistonParam)(dJointID, int parameter);
//int             (ODE_API *dJointGetAMotorNumAxes)(dJointID);
//void            (ODE_API *dJointGetAMotorAxis)(dJointID, int anum, dVector3 result);
//int             (ODE_API *dJointGetAMotorAxisRel)(dJointID, int anum);
//dReal           (ODE_API *dJointGetAMotorAngle)(dJointID, int anum);
//dReal           (ODE_API *dJointGetAMotorAngleRate)(dJointID, int anum);
//dReal           (ODE_API *dJointGetAMotorParam)(dJointID, int parameter);
//int             (ODE_API *dJointGetAMotorMode)(dJointID);
//int             (ODE_API *dJointGetLMotorNumAxes)(dJointID);
//void            (ODE_API *dJointGetLMotorAxis)(dJointID, int anum, dVector3 result);
//dReal           (ODE_API *dJointGetLMotorParam)(dJointID, int parameter);
//dReal           (ODE_API *dJointGetFixedParam)(dJointID, int parameter);
//dJointID        (ODE_API *dConnectingJoint)(dBodyID, dBodyID);
//int             (ODE_API *dConnectingJointList)(dBodyID, dBodyID, dJointID*);
int             (ODE_API *dAreConnected)(dBodyID, dBodyID);
int             (ODE_API *dAreConnectedExcluding)(dBodyID body1, dBodyID body2, int joint_type);
//
dSpaceID        (ODE_API *dSimpleSpaceCreate)(dSpaceID space);
dSpaceID        (ODE_API *dHashSpaceCreate)(dSpaceID space);
dSpaceID        (ODE_API *dQuadTreeSpaceCreate)(dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
//dSpaceID        (ODE_API *dSweepAndPruneSpaceCreate)( dSpaceID space, int axisorder );
void            (ODE_API *dSpaceDestroy)(dSpaceID);
//void            (ODE_API *dHashSpaceSetLevels)(dSpaceID space, int minlevel, int maxlevel);
//void            (ODE_API *dHashSpaceGetLevels)(dSpaceID space, int *minlevel, int *maxlevel);
//void            (ODE_API *dSpaceSetCleanup)(dSpaceID space, int mode);
//int             (ODE_API *dSpaceGetCleanup)(dSpaceID space);
//void            (ODE_API *dSpaceSetSublevel)(dSpaceID space, int sublevel);
//int             (ODE_API *dSpaceGetSublevel)(dSpaceID space);
//void            (ODE_API *dSpaceSetManualCleanup)(dSpaceID space, int mode);
//int             (ODE_API *dSpaceGetManualCleanup)(dSpaceID space);
//void            (ODE_API *dSpaceAdd)(dSpaceID, dGeomID);
//void            (ODE_API *dSpaceRemove)(dSpaceID, dGeomID);
//int             (ODE_API *dSpaceQuery)(dSpaceID, dGeomID);
//void            (ODE_API *dSpaceClean)(dSpaceID);
//int             (ODE_API *dSpaceGetNumGeoms)(dSpaceID);
//dGeomID         (ODE_API *dSpaceGetGeom)(dSpaceID, int i);
//int             (ODE_API *dSpaceGetClass)(dSpaceID space);
//
void            (ODE_API *dGeomDestroy)(dGeomID geom);
void            (ODE_API *dGeomSetData)(dGeomID geom, void* data);
void *          (ODE_API *dGeomGetData)(dGeomID geom);
void            (ODE_API *dGeomSetBody)(dGeomID geom, dBodyID body);
dBodyID         (ODE_API *dGeomGetBody)(dGeomID geom);
void            (ODE_API *dGeomSetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
void            (ODE_API *dGeomSetRotation)(dGeomID geom, const dMatrix3 R);
//void            (ODE_API *dGeomSetQuaternion)(dGeomID geom, const dQuaternion Q);
//const dReal *   (ODE_API *dGeomGetPosition)(dGeomID geom);
//void            (ODE_API *dGeomCopyPosition)(dGeomID geom, dVector3 pos);
//const dReal *   (ODE_API *dGeomGetRotation)(dGeomID geom);
//void            (ODE_API *dGeomCopyRotation)(dGeomID geom, dMatrix3 R);
//void            (ODE_API *dGeomGetQuaternion)(dGeomID geom, dQuaternion result);
//void            (ODE_API *dGeomGetAABB)(dGeomID geom, dReal aabb[6]);
int             (ODE_API *dGeomIsSpace)(dGeomID geom);
//dSpaceID        (ODE_API *dGeomGetSpace)(dGeomID);
//int             (ODE_API *dGeomGetClass)(dGeomID geom);
//void            (ODE_API *dGeomSetCategoryBits)(dGeomID geom, unsigned long bits);
//void            (ODE_API *dGeomSetCollideBits)(dGeomID geom, unsigned long bits);
//unsigned long   (ODE_API *dGeomGetCategoryBits)(dGeomID);
//unsigned long   (ODE_API *dGeomGetCollideBits)(dGeomID);
//void            (ODE_API *dGeomEnable)(dGeomID geom);
//void            (ODE_API *dGeomDisable)(dGeomID geom);
//int             (ODE_API *dGeomIsEnabled)(dGeomID geom);
//void            (ODE_API *dGeomSetOffsetPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void            (ODE_API *dGeomSetOffsetRotation)(dGeomID geom, const dMatrix3 R);
//void            (ODE_API *dGeomSetOffsetQuaternion)(dGeomID geom, const dQuaternion Q);
//void            (ODE_API *dGeomSetOffsetWorldPosition)(dGeomID geom, dReal x, dReal y, dReal z);
//void            (ODE_API *dGeomSetOffsetWorldRotation)(dGeomID geom, const dMatrix3 R);
//void            (ODE_API *dGeomSetOffsetWorldQuaternion)(dGeomID geom, const dQuaternion);
//void            (ODE_API *dGeomClearOffset)(dGeomID geom);
//int             (ODE_API *dGeomIsOffset)(dGeomID geom);
//const dReal *   (ODE_API *dGeomGetOffsetPosition)(dGeomID geom);
//void            (ODE_API *dGeomCopyOffsetPosition)(dGeomID geom, dVector3 pos);
//const dReal *   (ODE_API *dGeomGetOffsetRotation)(dGeomID geom);
//void            (ODE_API *dGeomCopyOffsetRotation)(dGeomID geom, dMatrix3 R);
//void            (ODE_API *dGeomGetOffsetQuaternion)(dGeomID geom, dQuaternion result);
int             (ODE_API *dCollide)(dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip);
//
void            (ODE_API *dSpaceCollide)(dSpaceID space, void *data, dNearCallback *callback);
void            (ODE_API *dSpaceCollide2)(dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
//
dGeomID         (ODE_API *dCreateSphere)(dSpaceID space, dReal radius);
//void            (ODE_API *dGeomSphereSetRadius)(dGeomID sphere, dReal radius);
//dReal           (ODE_API *dGeomSphereGetRadius)(dGeomID sphere);
//dReal           (ODE_API *dGeomSpherePointDepth)(dGeomID sphere, dReal x, dReal y, dReal z);
//
//dGeomID         (ODE_API *dCreateConvex)(dSpaceID space, dReal *_planes, unsigned int _planecount, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//void            (ODE_API *dGeomSetConvex)(dGeomID g, dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount,unsigned int *_polygons);
//
dGeomID         (ODE_API *dCreateBox)(dSpaceID space, dReal lx, dReal ly, dReal lz);
//void            (ODE_API *dGeomBoxSetLengths)(dGeomID box, dReal lx, dReal ly, dReal lz);
//void            (ODE_API *dGeomBoxGetLengths)(dGeomID box, dVector3 result);
//dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//dReal           (ODE_API *dGeomBoxPointDepth)(dGeomID box, dReal x, dReal y, dReal z);
//
//dGeomID         (ODE_API *dCreatePlane)(dSpaceID space, dReal a, dReal b, dReal c, dReal d);
//void            (ODE_API *dGeomPlaneSetParams)(dGeomID plane, dReal a, dReal b, dReal c, dReal d);
//void            (ODE_API *dGeomPlaneGetParams)(dGeomID plane, dVector4 result);
//dReal           (ODE_API *dGeomPlanePointDepth)(dGeomID plane, dReal x, dReal y, dReal z);
//
dGeomID         (ODE_API *dCreateCapsule)(dSpaceID space, dReal radius, dReal length);
//void            (ODE_API *dGeomCapsuleSetParams)(dGeomID ccylinder, dReal radius, dReal length);
//void            (ODE_API *dGeomCapsuleGetParams)(dGeomID ccylinder, dReal *radius, dReal *length);
//dReal           (ODE_API *dGeomCapsulePointDepth)(dGeomID ccylinder, dReal x, dReal y, dReal z);
//
//dGeomID         (ODE_API *dCreateCylinder)(dSpaceID space, dReal radius, dReal length);
//void            (ODE_API *dGeomCylinderSetParams)(dGeomID cylinder, dReal radius, dReal length);
//void            (ODE_API *dGeomCylinderGetParams)(dGeomID cylinder, dReal *radius, dReal *length);
//
//dGeomID         (ODE_API *dCreateRay)(dSpaceID space, dReal length);
//void            (ODE_API *dGeomRaySetLength)(dGeomID ray, dReal length);
//dReal           (ODE_API *dGeomRayGetLength)(dGeomID ray);
//void            (ODE_API *dGeomRaySet)(dGeomID ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
//void            (ODE_API *dGeomRayGet)(dGeomID ray, dVector3 start, dVector3 dir);
//
dGeomID         (ODE_API *dCreateGeomTransform)(dSpaceID space);
void            (ODE_API *dGeomTransformSetGeom)(dGeomID g, dGeomID obj);
//dGeomID         (ODE_API *dGeomTransformGetGeom)(dGeomID g);
void            (ODE_API *dGeomTransformSetCleanup)(dGeomID g, int mode);
//int             (ODE_API *dGeomTransformGetCleanup)(dGeomID g);
//void            (ODE_API *dGeomTransformSetInfo)(dGeomID g, int mode);
//int             (ODE_API *dGeomTransformGetInfo)(dGeomID g);

enum { TRIMESH_FACE_NORMALS };
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);

dTriMeshDataID  (ODE_API *dGeomTriMeshDataCreate)(void);
void            (ODE_API *dGeomTriMeshDataDestroy)(dTriMeshDataID g);
//void            (ODE_API *dGeomTriMeshDataSet)(dTriMeshDataID g, int data_id, void* in_data);
//void*           (ODE_API *dGeomTriMeshDataGet)(dTriMeshDataID g, int data_id);
//void            (*dGeomTriMeshSetLastTransform)( (ODE_API *dGeomID g, dMatrix4 last_trans );
//dReal*          (*dGeomTriMeshGetLastTransform)( (ODE_API *dGeomID g );
void            (ODE_API *dGeomTriMeshDataBuildSingle)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
//void            (ODE_API *dGeomTriMeshDataBuildSingle1)(dTriMeshDataID g, const void* Vertices, int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void            (ODE_API *dGeomTriMeshDataBuildDouble)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride);
//void            (ODE_API *dGeomTriMeshDataBuildDouble1)(dTriMeshDataID g,  const void* Vertices,  int VertexStride, int VertexCount,  const void* Indices, int IndexCount, int TriStride, const void* Normals);
//void            (ODE_API *dGeomTriMeshDataBuildSimple)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount);
//void            (ODE_API *dGeomTriMeshDataBuildSimple1)(dTriMeshDataID g, const dReal* Vertices, int VertexCount, const dTriIndex* Indices, int IndexCount, const int* Normals);
//void            (ODE_API *dGeomTriMeshDataPreprocess)(dTriMeshDataID g);
//void            (ODE_API *dGeomTriMeshDataGetBuffer)(dTriMeshDataID g, unsigned char** buf, int* bufLen);
//void            (ODE_API *dGeomTriMeshDataSetBuffer)(dTriMeshDataID g, unsigned char* buf);
//void            (ODE_API *dGeomTriMeshSetCallback)(dGeomID g, dTriCallback* Callback);
//dTriCallback*   (ODE_API *dGeomTriMeshGetCallback)(dGeomID g);
//void            (ODE_API *dGeomTriMeshSetArrayCallback)(dGeomID g, dTriArrayCallback* ArrayCallback);
//dTriArrayCallback* (ODE_API *dGeomTriMeshGetArrayCallback)(dGeomID g);
//void            (ODE_API *dGeomTriMeshSetRayCallback)(dGeomID g, dTriRayCallback* Callback);
//dTriRayCallback* (ODE_API *dGeomTriMeshGetRayCallback)(dGeomID g);
//void            (ODE_API *dGeomTriMeshSetTriMergeCallback)(dGeomID g, dTriTriMergeCallback* Callback);
//dTriTriMergeCallback* (ODE_API *dGeomTriMeshGetTriMergeCallback)(dGeomID g);
dGeomID         (ODE_API *dCreateTriMesh)(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
//void            (ODE_API *dGeomTriMeshSetData)(dGeomID g, dTriMeshDataID Data);
//dTriMeshDataID  (ODE_API *dGeomTriMeshGetData)(dGeomID g);
//void            (ODE_API *dGeomTriMeshEnableTC)(dGeomID g, int geomClass, int enable);
//int             (ODE_API *dGeomTriMeshIsTCEnabled)(dGeomID g, int geomClass);
//void            (ODE_API *dGeomTriMeshClearTCCache)(dGeomID g);
//dTriMeshDataID  (ODE_API *dGeomTriMeshGetTriMeshDataID)(dGeomID g);
//void            (ODE_API *dGeomTriMeshGetTriangle)(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
//void            (ODE_API *dGeomTriMeshGetPoint)(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
//int             (ODE_API *dGeomTriMeshGetTriangleCount )(dGeomID g);
//void            (ODE_API *dGeomTriMeshDataUpdate)(dTriMeshDataID g);

static dllfunction_t odefuncs[] =
{
//    {"dGetConfiguration",                                       (void **) &dGetConfiguration},
      {"dCheckConfiguration",                                     (void **) &dCheckConfiguration},
      {"dInitODE",                                                      (void **) &dInitODE},
//    {"dInitODE2",                                                     (void **) &dInitODE2},
//    {"dAllocateODEDataForThread",                         (void **) &dAllocateODEDataForThread},
//    {"dCleanupODEAllDataForThread",                             (void **) &dCleanupODEAllDataForThread},
      {"dCloseODE",                                                     (void **) &dCloseODE},
//    {"dMassCheck",                                                    (void **) &dMassCheck},
//    {"dMassSetZero",                                            (void **) &dMassSetZero},
//    {"dMassSetParameters",                                      (void **) &dMassSetParameters},
//    {"dMassSetSphere",                                                (void **) &dMassSetSphere},
      {"dMassSetSphereTotal",                                     (void **) &dMassSetSphereTotal},
//    {"dMassSetCapsule",                                               (void **) &dMassSetCapsule},
      {"dMassSetCapsuleTotal",                                    (void **) &dMassSetCapsuleTotal},
//    {"dMassSetCylinder",                                        (void **) &dMassSetCylinder},
//    {"dMassSetCylinderTotal",                                   (void **) &dMassSetCylinderTotal},
//    {"dMassSetBox",                                                   (void **) &dMassSetBox},
      {"dMassSetBoxTotal",                                        (void **) &dMassSetBoxTotal},
//    {"dMassSetTrimesh",                                               (void **) &dMassSetTrimesh},
//    {"dMassSetTrimeshTotal",                                    (void **) &dMassSetTrimeshTotal},
//    {"dMassAdjust",                                                   (void **) &dMassAdjust},
//    {"dMassTranslate",                                                (void **) &dMassTranslate},
//    {"dMassRotate",                                                   (void **) &dMassRotate},
//    {"dMassAdd",                                                      (void **) &dMassAdd},

      {"dWorldCreate",                                            (void **) &dWorldCreate},
      {"dWorldDestroy",                                           (void **) &dWorldDestroy},
      {"dWorldSetGravity",                                        (void **) &dWorldSetGravity},
      {"dWorldGetGravity",                                        (void **) &dWorldGetGravity},
      {"dWorldSetERP",                                            (void **) &dWorldSetERP},
//    {"dWorldGetERP",                                            (void **) &dWorldGetERP},
      {"dWorldSetCFM",                                            (void **) &dWorldSetCFM},
//    {"dWorldGetCFM",                                            (void **) &dWorldGetCFM},
      {"dWorldStep",                                                    (void **) &dWorldStep},
//    {"dWorldImpulseToForce",                                    (void **) &dWorldImpulseToForce},
      {"dWorldQuickStep",                                               (void **) &dWorldQuickStep},
      {"dWorldSetQuickStepNumIterations",                   (void **) &dWorldSetQuickStepNumIterations},
//    {"dWorldGetQuickStepNumIterations",                   (void **) &dWorldGetQuickStepNumIterations},
//    {"dWorldSetQuickStepW",                                     (void **) &dWorldSetQuickStepW},
//    {"dWorldGetQuickStepW",                                     (void **) &dWorldGetQuickStepW},
//    {"dWorldSetContactMaxCorrectingVel",                  (void **) &dWorldSetContactMaxCorrectingVel},
//    {"dWorldGetContactMaxCorrectingVel",                  (void **) &dWorldGetContactMaxCorrectingVel},
      {"dWorldSetContactSurfaceLayer",                      (void **) &dWorldSetContactSurfaceLayer},
//    {"dWorldGetContactSurfaceLayer",                      (void **) &dWorldGetContactSurfaceLayer},
#ifdef ODE_USE_STEPFAST
      {"dWorldStepFast1",                                               (void **) &dWorldStepFast1},
#endif
//    {"dWorldSetAutoEnableDepthSF1",                             (void **) &dWorldSetAutoEnableDepthSF1},
//    {"dWorldGetAutoEnableDepthSF1",                             (void **) &dWorldGetAutoEnableDepthSF1},
//    {"dWorldGetAutoDisableLinearThreshold",               (void **) &dWorldGetAutoDisableLinearThreshold},
      {"dWorldSetAutoDisableLinearThreshold",               (void **) &dWorldSetAutoDisableLinearThreshold},
//    {"dWorldGetAutoDisableAngularThreshold",        (void **) &dWorldGetAutoDisableAngularThreshold},
      {"dWorldSetAutoDisableAngularThreshold",        (void **) &dWorldSetAutoDisableAngularThreshold},
//    {"dWorldGetAutoDisableLinearAverageThreshold",  (void **) &dWorldGetAutoDisableLinearAverageThreshold},
//    {"dWorldSetAutoDisableLinearAverageThreshold",  (void **) &dWorldSetAutoDisableLinearAverageThreshold},
//    {"dWorldGetAutoDisableAngularAverageThreshold", (void **) &dWorldGetAutoDisableAngularAverageThreshold},
//    {"dWorldSetAutoDisableAngularAverageThreshold", (void **) &dWorldSetAutoDisableAngularAverageThreshold},
//    {"dWorldGetAutoDisableAverageSamplesCount",           (void **) &dWorldGetAutoDisableAverageSamplesCount},
      {"dWorldSetAutoDisableAverageSamplesCount",           (void **) &dWorldSetAutoDisableAverageSamplesCount},
//    {"dWorldGetAutoDisableSteps",                         (void **) &dWorldGetAutoDisableSteps},
      {"dWorldSetAutoDisableSteps",                         (void **) &dWorldSetAutoDisableSteps},
//    {"dWorldGetAutoDisableTime",                          (void **) &dWorldGetAutoDisableTime},
      {"dWorldSetAutoDisableTime",                          (void **) &dWorldSetAutoDisableTime},
//    {"dWorldGetAutoDisableFlag",                          (void **) &dWorldGetAutoDisableFlag},
      {"dWorldSetAutoDisableFlag",                          (void **) &dWorldSetAutoDisableFlag},
//    {"dWorldGetLinearDampingThreshold",                   (void **) &dWorldGetLinearDampingThreshold},
      {"dWorldSetLinearDampingThreshold",                   (void **) &dWorldSetLinearDampingThreshold},
//    {"dWorldGetAngularDampingThreshold",                  (void **) &dWorldGetAngularDampingThreshold},
      {"dWorldSetAngularDampingThreshold",                  (void **) &dWorldSetAngularDampingThreshold},
//    {"dWorldGetLinearDamping",                                  (void **) &dWorldGetLinearDamping},
      {"dWorldSetLinearDamping",                                  (void **) &dWorldSetLinearDamping},
//    {"dWorldGetAngularDamping",                                 (void **) &dWorldGetAngularDamping},
      {"dWorldSetAngularDamping",                                 (void **) &dWorldSetAngularDamping},
//    {"dWorldSetDamping",                                        (void **) &dWorldSetDamping},
//    {"dWorldGetMaxAngularSpeed",                          (void **) &dWorldGetMaxAngularSpeed},
//    {"dWorldSetMaxAngularSpeed",                          (void **) &dWorldSetMaxAngularSpeed},
//    {"dBodyGetAutoDisableLinearThreshold",                (void **) &dBodyGetAutoDisableLinearThreshold},
//    {"dBodySetAutoDisableLinearThreshold",                (void **) &dBodySetAutoDisableLinearThreshold},
//    {"dBodyGetAutoDisableAngularThreshold",               (void **) &dBodyGetAutoDisableAngularThreshold},
//    {"dBodySetAutoDisableAngularThreshold",               (void **) &dBodySetAutoDisableAngularThreshold},
//    {"dBodyGetAutoDisableAverageSamplesCount",            (void **) &dBodyGetAutoDisableAverageSamplesCount},
//    {"dBodySetAutoDisableAverageSamplesCount",            (void **) &dBodySetAutoDisableAverageSamplesCount},
//    {"dBodyGetAutoDisableSteps",                          (void **) &dBodyGetAutoDisableSteps},
//    {"dBodySetAutoDisableSteps",                          (void **) &dBodySetAutoDisableSteps},
//    {"dBodyGetAutoDisableTime",                                 (void **) &dBodyGetAutoDisableTime},
//    {"dBodySetAutoDisableTime",                                 (void **) &dBodySetAutoDisableTime},
//    {"dBodyGetAutoDisableFlag",                                 (void **) &dBodyGetAutoDisableFlag},
//    {"dBodySetAutoDisableFlag",                                 (void **) &dBodySetAutoDisableFlag},
//    {"dBodySetAutoDisableDefaults",                             (void **) &dBodySetAutoDisableDefaults},
//    {"dBodyGetWorld",                                           (void **) &dBodyGetWorld},
      {"dBodyCreate",                                                   (void **) &dBodyCreate},
      {"dBodyDestroy",                                            (void **) &dBodyDestroy},
      {"dBodySetData",                                            (void **) &dBodySetData},
      {"dBodyGetData",                                            (void **) &dBodyGetData},
      {"dBodySetPosition",                                        (void **) &dBodySetPosition},
      {"dBodySetRotation",                                        (void **) &dBodySetRotation},
//    {"dBodySetQuaternion",                                      (void **) &dBodySetQuaternion},
      {"dBodySetLinearVel",                                       (void **) &dBodySetLinearVel},
      {"dBodySetAngularVel",                                      (void **) &dBodySetAngularVel},
      {"dBodyGetPosition",                                        (void **) &dBodyGetPosition},
//    {"dBodyCopyPosition",                                       (void **) &dBodyCopyPosition},
      {"dBodyGetRotation",                                        (void **) &dBodyGetRotation},
//    {"dBodyCopyRotation",                                       (void **) &dBodyCopyRotation},
//    {"dBodyGetQuaternion",                                      (void **) &dBodyGetQuaternion},
//    {"dBodyCopyQuaternion",                                     (void **) &dBodyCopyQuaternion},
      {"dBodyGetLinearVel",                                       (void **) &dBodyGetLinearVel},
      {"dBodyGetAngularVel",                                      (void **) &dBodyGetAngularVel},
      {"dBodySetMass",                                            (void **) &dBodySetMass},
//    {"dBodyGetMass",                                            (void **) &dBodyGetMass},
//    {"dBodyAddForce",                                           (void **) &dBodyAddForce},
//    {"dBodyAddTorque",                                                (void **) &dBodyAddTorque},
//    {"dBodyAddRelForce",                                        (void **) &dBodyAddRelForce},
      {"dBodyAddRelTorque",                                       (void **) &dBodyAddRelTorque},
//    {"dBodyAddForceAtPos",                                      (void **) &dBodyAddForceAtPos},
      {"dBodyAddForceAtRelPos",                                   (void **) &dBodyAddForceAtRelPos},
//    {"dBodyAddRelForceAtPos",                                   (void **) &dBodyAddRelForceAtPos},
//    {"dBodyAddRelForceAtRelPos",                          (void **) &dBodyAddRelForceAtRelPos},
//    {"dBodyGetForce",                                           (void **) &dBodyGetForce},
//    {"dBodyGetTorque",                                                (void **) &dBodyGetTorque},
//    {"dBodySetForce",                                           (void **) &dBodySetForce},
//    {"dBodySetTorque",                                                (void **) &dBodySetTorque},
//    {"dBodyGetRelPointPos",                                     (void **) &dBodyGetRelPointPos},
//    {"dBodyGetRelPointVel",                                     (void **) &dBodyGetRelPointVel},
//    {"dBodyGetPointVel",                                        (void **) &dBodyGetPointVel},
//    {"dBodyGetPosRelPoint",                                     (void **) &dBodyGetPosRelPoint},
//    {"dBodyVectorToWorld",                                      (void **) &dBodyVectorToWorld},
//    {"dBodyVectorFromWorld",                                    (void **) &dBodyVectorFromWorld},
//    {"dBodySetFiniteRotationMode",                              (void **) &dBodySetFiniteRotationMode},
//    {"dBodySetFiniteRotationAxis",                              (void **) &dBodySetFiniteRotationAxis},
//    {"dBodyGetFiniteRotationMode",                              (void **) &dBodyGetFiniteRotationMode},
//    {"dBodyGetFiniteRotationAxis",                              (void **) &dBodyGetFiniteRotationAxis},
      {"dBodyGetNumJoints",                                       (void **) &dBodyGetNumJoints},
      {"dBodyGetJoint",                                           (void **) &dBodyGetJoint},
//    {"dBodySetDynamic",                                               (void **) &dBodySetDynamic},
//    {"dBodySetKinematic",                                       (void **) &dBodySetKinematic},
//    {"dBodyIsKinematic",                                        (void **) &dBodyIsKinematic},
      {"dBodyEnable",                                                   (void **) &dBodyEnable},
      {"dBodyDisable",                                            (void **) &dBodyDisable},
      {"dBodyIsEnabled",                                                (void **) &dBodyIsEnabled},
      {"dBodySetGravityMode",                                     (void **) &dBodySetGravityMode},
      {"dBodyGetGravityMode",                                     (void **) &dBodyGetGravityMode},
//    {"dBodySetMovedCallback",                                   (void **) &dBodySetMovedCallback},
//    {"dBodyGetFirstGeom",                                       (void **) &dBodyGetFirstGeom},
//    {"dBodyGetNextGeom",                                        (void **) &dBodyGetNextGeom},
//    {"dBodySetDampingDefaults",                                 (void **) &dBodySetDampingDefaults},
//    {"dBodyGetLinearDamping",                                   (void **) &dBodyGetLinearDamping},
//    {"dBodySetLinearDamping",                                   (void **) &dBodySetLinearDamping},
//    {"dBodyGetAngularDamping",                                  (void **) &dBodyGetAngularDamping},
//    {"dBodySetAngularDamping",                                  (void **) &dBodySetAngularDamping},
//    {"dBodySetDamping",                                               (void **) &dBodySetDamping},
//    {"dBodyGetLinearDampingThreshold",                    (void **) &dBodyGetLinearDampingThreshold},
//    {"dBodySetLinearDampingThreshold",                    (void **) &dBodySetLinearDampingThreshold},
//    {"dBodyGetAngularDampingThreshold",                   (void **) &dBodyGetAngularDampingThreshold},
//    {"dBodySetAngularDampingThreshold",                   (void **) &dBodySetAngularDampingThreshold},
//    {"dBodyGetMaxAngularSpeed",                                 (void **) &dBodyGetMaxAngularSpeed},
//    {"dBodySetMaxAngularSpeed",                                 (void **) &dBodySetMaxAngularSpeed},
//    {"dBodyGetGyroscopicMode",                                  (void **) &dBodyGetGyroscopicMode},
//    {"dBodySetGyroscopicMode",                                  (void **) &dBodySetGyroscopicMode},
      {"dJointCreateBall",                                        (void **) &dJointCreateBall},
      {"dJointCreateHinge",                                       (void **) &dJointCreateHinge},
      {"dJointCreateSlider",                                      (void **) &dJointCreateSlider},
      {"dJointCreateContact",                                     (void **) &dJointCreateContact},
      {"dJointCreateHinge2",                                      (void **) &dJointCreateHinge2},
      {"dJointCreateUniversal",                                   (void **) &dJointCreateUniversal},
//    {"dJointCreatePR",                                                (void **) &dJointCreatePR},
//    {"dJointCreatePU",                                                (void **) &dJointCreatePU},
//    {"dJointCreatePiston",                                      (void **) &dJointCreatePiston},
      {"dJointCreateFixed",                                       (void **) &dJointCreateFixed},
//    {"dJointCreateNull",                                        (void **) &dJointCreateNull},
//    {"dJointCreateAMotor",                                      (void **) &dJointCreateAMotor},
//    {"dJointCreateLMotor",                                      (void **) &dJointCreateLMotor},
//    {"dJointCreatePlane2D",                                     (void **) &dJointCreatePlane2D},
      {"dJointDestroy",                                           (void **) &dJointDestroy},
      {"dJointGroupCreate",                                       (void **) &dJointGroupCreate},
      {"dJointGroupDestroy",                                      (void **) &dJointGroupDestroy},
      {"dJointGroupEmpty",                                        (void **) &dJointGroupEmpty},
//    {"dJointGetNumBodies",                                      (void **) &dJointGetNumBodies},
      {"dJointAttach",                                            (void **) &dJointAttach},
//    {"dJointEnable",                                            (void **) &dJointEnable},
//    {"dJointDisable",                                           (void **) &dJointDisable},
//    {"dJointIsEnabled",                                               (void **) &dJointIsEnabled},
      {"dJointSetData",                                           (void **) &dJointSetData},
      {"dJointGetData",                                           (void **) &dJointGetData},
//    {"dJointGetType",                                           (void **) &dJointGetType},
      {"dJointGetBody",                                           (void **) &dJointGetBody},
//    {"dJointSetFeedback",                                       (void **) &dJointSetFeedback},
//    {"dJointGetFeedback",                                       (void **) &dJointGetFeedback},
      {"dJointSetBallAnchor",                                     (void **) &dJointSetBallAnchor},
//    {"dJointSetBallAnchor2",                                    (void **) &dJointSetBallAnchor2},
      {"dJointSetBallParam",                                      (void **) &dJointSetBallParam},
      {"dJointSetHingeAnchor",                                    (void **) &dJointSetHingeAnchor},
//    {"dJointSetHingeAnchorDelta",                         (void **) &dJointSetHingeAnchorDelta},
      {"dJointSetHingeAxis",                                      (void **) &dJointSetHingeAxis},
//    {"dJointSetHingeAxisOffset",                          (void **) &dJointSetHingeAxisOffset},
      {"dJointSetHingeParam",                                     (void **) &dJointSetHingeParam},
//    {"dJointAddHingeTorque",                                    (void **) &dJointAddHingeTorque},
      {"dJointSetSliderAxis",                                     (void **) &dJointSetSliderAxis},
//    {"dJointSetSliderAxisDelta",                          (void **) &dJointSetSliderAxisDelta},
      {"dJointSetSliderParam",                                    (void **) &dJointSetSliderParam},
//    {"dJointAddSliderForce",                                    (void **) &dJointAddSliderForce},
      {"dJointSetHinge2Anchor",                                   (void **) &dJointSetHinge2Anchor},
      {"dJointSetHinge2Axis1",                                    (void **) &dJointSetHinge2Axis1},
      {"dJointSetHinge2Axis2",                                    (void **) &dJointSetHinge2Axis2},
      {"dJointSetHinge2Param",                                    (void **) &dJointSetHinge2Param},
//    {"dJointAddHinge2Torques",                                  (void **) &dJointAddHinge2Torques},
      {"dJointSetUniversalAnchor",                          (void **) &dJointSetUniversalAnchor},
      {"dJointSetUniversalAxis1",                                 (void **) &dJointSetUniversalAxis1},
//    {"dJointSetUniversalAxis1Offset",                     (void **) &dJointSetUniversalAxis1Offset},
      {"dJointSetUniversalAxis2",                                 (void **) &dJointSetUniversalAxis2},
//    {"dJointSetUniversalAxis2Offset",                     (void **) &dJointSetUniversalAxis2Offset},
      {"dJointSetUniversalParam",                                 (void **) &dJointSetUniversalParam},
//    {"dJointAddUniversalTorques",                         (void **) &dJointAddUniversalTorques},
//    {"dJointSetPRAnchor",                                       (void **) &dJointSetPRAnchor},
//    {"dJointSetPRAxis1",                                        (void **) &dJointSetPRAxis1},
//    {"dJointSetPRAxis2",                                        (void **) &dJointSetPRAxis2},
//    {"dJointSetPRParam",                                        (void **) &dJointSetPRParam},
//    {"dJointAddPRTorque",                                       (void **) &dJointAddPRTorque},
//    {"dJointSetPUAnchor",                                       (void **) &dJointSetPUAnchor},
//    {"dJointSetPUAnchorOffset",                                 (void **) &dJointSetPUAnchorOffset},
//    {"dJointSetPUAxis1",                                        (void **) &dJointSetPUAxis1},
//    {"dJointSetPUAxis2",                                        (void **) &dJointSetPUAxis2},
//    {"dJointSetPUAxis3",                                        (void **) &dJointSetPUAxis3},
//    {"dJointSetPUAxisP",                                        (void **) &dJointSetPUAxisP},
//    {"dJointSetPUParam",                                        (void **) &dJointSetPUParam},
//    {"dJointAddPUTorque",                                       (void **) &dJointAddPUTorque},
//    {"dJointSetPistonAnchor",                                   (void **) &dJointSetPistonAnchor},
//    {"dJointSetPistonAnchorOffset",                             (void **) &dJointSetPistonAnchorOffset},
//    {"dJointSetPistonParam",                                    (void **) &dJointSetPistonParam},
//    {"dJointAddPistonForce",                                    (void **) &dJointAddPistonForce},
//    {"dJointSetFixed",                                                (void **) &dJointSetFixed},
//    {"dJointSetFixedParam",                                     (void **) &dJointSetFixedParam},
//    {"dJointSetAMotorNumAxes",                                  (void **) &dJointSetAMotorNumAxes},
//    {"dJointSetAMotorAxis",                                     (void **) &dJointSetAMotorAxis},
//    {"dJointSetAMotorAngle",                                    (void **) &dJointSetAMotorAngle},
//    {"dJointSetAMotorParam",                                    (void **) &dJointSetAMotorParam},
//    {"dJointSetAMotorMode",                                     (void **) &dJointSetAMotorMode},
//    {"dJointAddAMotorTorques",                                  (void **) &dJointAddAMotorTorques},
//    {"dJointSetLMotorNumAxes",                                  (void **) &dJointSetLMotorNumAxes},
//    {"dJointSetLMotorAxis",                                     (void **) &dJointSetLMotorAxis},
//    {"dJointSetLMotorParam",                                    (void **) &dJointSetLMotorParam},
//    {"dJointSetPlane2DXParam",                                  (void **) &dJointSetPlane2DXParam},
//    {"dJointSetPlane2DYParam",                                  (void **) &dJointSetPlane2DYParam},
//    {"dJointSetPlane2DAngleParam",                              (void **) &dJointSetPlane2DAngleParam},
//    {"dJointGetBallAnchor",                                     (void **) &dJointGetBallAnchor},
//    {"dJointGetBallAnchor2",                                    (void **) &dJointGetBallAnchor2},
//    {"dJointGetBallParam",                                      (void **) &dJointGetBallParam},
//    {"dJointGetHingeAnchor",                                    (void **) &dJointGetHingeAnchor},
//    {"dJointGetHingeAnchor2",                                   (void **) &dJointGetHingeAnchor2},
//    {"dJointGetHingeAxis",                                      (void **) &dJointGetHingeAxis},
//    {"dJointGetHingeParam",                                     (void **) &dJointGetHingeParam},
//    {"dJointGetHingeAngle",                                     (void **) &dJointGetHingeAngle},
//    {"dJointGetHingeAngleRate",                                 (void **) &dJointGetHingeAngleRate},
//    {"dJointGetSliderPosition",                                 (void **) &dJointGetSliderPosition},
//    {"dJointGetSliderPositionRate",                             (void **) &dJointGetSliderPositionRate},
//    {"dJointGetSliderAxis",                                     (void **) &dJointGetSliderAxis},
//    {"dJointGetSliderParam",                                    (void **) &dJointGetSliderParam},
//    {"dJointGetHinge2Anchor",                                   (void **) &dJointGetHinge2Anchor},
//    {"dJointGetHinge2Anchor2",                                  (void **) &dJointGetHinge2Anchor2},
//    {"dJointGetHinge2Axis1",                                    (void **) &dJointGetHinge2Axis1},
//    {"dJointGetHinge2Axis2",                                    (void **) &dJointGetHinge2Axis2},
//    {"dJointGetHinge2Param",                                    (void **) &dJointGetHinge2Param},
//    {"dJointGetHinge2Angle1",                                   (void **) &dJointGetHinge2Angle1},
//    {"dJointGetHinge2Angle1Rate",                         (void **) &dJointGetHinge2Angle1Rate},
//    {"dJointGetHinge2Angle2Rate",                         (void **) &dJointGetHinge2Angle2Rate},
//    {"dJointGetUniversalAnchor",                          (void **) &dJointGetUniversalAnchor},
//    {"dJointGetUniversalAnchor2",                         (void **) &dJointGetUniversalAnchor2},
//    {"dJointGetUniversalAxis1",                                 (void **) &dJointGetUniversalAxis1},
//    {"dJointGetUniversalAxis2",                                 (void **) &dJointGetUniversalAxis2},
//    {"dJointGetUniversalParam",                                 (void **) &dJointGetUniversalParam},
//    {"dJointGetUniversalAngles",                          (void **) &dJointGetUniversalAngles},
//    {"dJointGetUniversalAngle1",                          (void **) &dJointGetUniversalAngle1},
//    {"dJointGetUniversalAngle2",                          (void **) &dJointGetUniversalAngle2},
//    {"dJointGetUniversalAngle1Rate",                      (void **) &dJointGetUniversalAngle1Rate},
//    {"dJointGetUniversalAngle2Rate",                      (void **) &dJointGetUniversalAngle2Rate},
//    {"dJointGetPRAnchor",                                       (void **) &dJointGetPRAnchor},
//    {"dJointGetPRPosition",                                     (void **) &dJointGetPRPosition},
//    {"dJointGetPRPositionRate",                                 (void **) &dJointGetPRPositionRate},
//    {"dJointGetPRAngle",                                        (void **) &dJointGetPRAngle},
//    {"dJointGetPRAngleRate",                                    (void **) &dJointGetPRAngleRate},
//    {"dJointGetPRAxis1",                                        (void **) &dJointGetPRAxis1},
//    {"dJointGetPRAxis2",                                        (void **) &dJointGetPRAxis2},
//    {"dJointGetPRParam",                                        (void **) &dJointGetPRParam},
//    {"dJointGetPUAnchor",                                       (void **) &dJointGetPUAnchor},
//    {"dJointGetPUPosition",                                     (void **) &dJointGetPUPosition},
//    {"dJointGetPUPositionRate",                                 (void **) &dJointGetPUPositionRate},
//    {"dJointGetPUAxis1",                                        (void **) &dJointGetPUAxis1},
//    {"dJointGetPUAxis2",                                        (void **) &dJointGetPUAxis2},
//    {"dJointGetPUAxis3",                                        (void **) &dJointGetPUAxis3},
//    {"dJointGetPUAxisP",                                        (void **) &dJointGetPUAxisP},
//    {"dJointGetPUAngles",                                       (void **) &dJointGetPUAngles},
//    {"dJointGetPUAngle1",                                       (void **) &dJointGetPUAngle1},
//    {"dJointGetPUAngle1Rate",                                   (void **) &dJointGetPUAngle1Rate},
//    {"dJointGetPUAngle2",                                       (void **) &dJointGetPUAngle2},
//    {"dJointGetPUAngle2Rate",                                   (void **) &dJointGetPUAngle2Rate},
//    {"dJointGetPUParam",                                        (void **) &dJointGetPUParam},
//    {"dJointGetPistonPosition",                                 (void **) &dJointGetPistonPosition},
//    {"dJointGetPistonPositionRate",                             (void **) &dJointGetPistonPositionRate},
//    {"dJointGetPistonAngle",                                    (void **) &dJointGetPistonAngle},
//    {"dJointGetPistonAngleRate",                          (void **) &dJointGetPistonAngleRate},
//    {"dJointGetPistonAnchor",                                   (void **) &dJointGetPistonAnchor},
//    {"dJointGetPistonAnchor2",                                  (void **) &dJointGetPistonAnchor2},
//    {"dJointGetPistonAxis",                                     (void **) &dJointGetPistonAxis},
//    {"dJointGetPistonParam",                                    (void **) &dJointGetPistonParam},
//    {"dJointGetAMotorNumAxes",                                  (void **) &dJointGetAMotorNumAxes},
//    {"dJointGetAMotorAxis",                                     (void **) &dJointGetAMotorAxis},
//    {"dJointGetAMotorAxisRel",                                  (void **) &dJointGetAMotorAxisRel},
//    {"dJointGetAMotorAngle",                                    (void **) &dJointGetAMotorAngle},
//    {"dJointGetAMotorAngleRate",                          (void **) &dJointGetAMotorAngleRate},
//    {"dJointGetAMotorParam",                                    (void **) &dJointGetAMotorParam},
//    {"dJointGetAMotorMode",                                     (void **) &dJointGetAMotorMode},
//    {"dJointGetLMotorNumAxes",                                  (void **) &dJointGetLMotorNumAxes},
//    {"dJointGetLMotorAxis",                                     (void **) &dJointGetLMotorAxis},
//    {"dJointGetLMotorParam",                                    (void **) &dJointGetLMotorParam},
//    {"dJointGetFixedParam",                                     (void **) &dJointGetFixedParam},
//    {"dConnectingJoint",                                        (void **) &dConnectingJoint},
//    {"dConnectingJointList",                                    (void **) &dConnectingJointList},
      {"dAreConnected",                                           (void **) &dAreConnected},
      {"dAreConnectedExcluding",                                  (void **) &dAreConnectedExcluding},
      {"dSimpleSpaceCreate",                                      (void **) &dSimpleSpaceCreate},
      {"dHashSpaceCreate",                                        (void **) &dHashSpaceCreate},
      {"dQuadTreeSpaceCreate",                                    (void **) &dQuadTreeSpaceCreate},
//    {"dSweepAndPruneSpaceCreate",                         (void **) &dSweepAndPruneSpaceCreate},
      {"dSpaceDestroy",                                           (void **) &dSpaceDestroy},
//    {"dHashSpaceSetLevels",                                     (void **) &dHashSpaceSetLevels},
//    {"dHashSpaceGetLevels",                                     (void **) &dHashSpaceGetLevels},
//    {"dSpaceSetCleanup",                                        (void **) &dSpaceSetCleanup},
//    {"dSpaceGetCleanup",                                        (void **) &dSpaceGetCleanup},
//    {"dSpaceSetSublevel",                                       (void **) &dSpaceSetSublevel},
//    {"dSpaceGetSublevel",                                       (void **) &dSpaceGetSublevel},
//    {"dSpaceSetManualCleanup",                                  (void **) &dSpaceSetManualCleanup},
//    {"dSpaceGetManualCleanup",                                  (void **) &dSpaceGetManualCleanup},
//    {"dSpaceAdd",                                                     (void **) &dSpaceAdd},
//    {"dSpaceRemove",                                            (void **) &dSpaceRemove},
//    {"dSpaceQuery",                                                   (void **) &dSpaceQuery},
//    {"dSpaceClean",                                                   (void **) &dSpaceClean},
//    {"dSpaceGetNumGeoms",                                       (void **) &dSpaceGetNumGeoms},
//    {"dSpaceGetGeom",                                           (void **) &dSpaceGetGeom},
//    {"dSpaceGetClass",                                                (void **) &dSpaceGetClass},
      {"dGeomDestroy",                                            (void **) &dGeomDestroy},
      {"dGeomSetData",                                            (void **) &dGeomSetData},
      {"dGeomGetData",                                            (void **) &dGeomGetData},
      {"dGeomSetBody",                                            (void **) &dGeomSetBody},
      {"dGeomGetBody",                                            (void **) &dGeomGetBody},
      {"dGeomSetPosition",                                        (void **) &dGeomSetPosition},
      {"dGeomSetRotation",                                        (void **) &dGeomSetRotation},
//    {"dGeomSetQuaternion",                                      (void **) &dGeomSetQuaternion},
//    {"dGeomGetPosition",                                        (void **) &dGeomGetPosition},
//    {"dGeomCopyPosition",                                       (void **) &dGeomCopyPosition},
//    {"dGeomGetRotation",                                        (void **) &dGeomGetRotation},
//    {"dGeomCopyRotation",                                       (void **) &dGeomCopyRotation},
//    {"dGeomGetQuaternion",                                      (void **) &dGeomGetQuaternion},
//    {"dGeomGetAABB",                                            (void **) &dGeomGetAABB},
      {"dGeomIsSpace",                                            (void **) &dGeomIsSpace},
//    {"dGeomGetSpace",                                           (void **) &dGeomGetSpace},
//    {"dGeomGetClass",                                           (void **) &dGeomGetClass},
//    {"dGeomSetCategoryBits",                                    (void **) &dGeomSetCategoryBits},
//    {"dGeomSetCollideBits",                                     (void **) &dGeomSetCollideBits},
//    {"dGeomGetCategoryBits",                                    (void **) &dGeomGetCategoryBits},
//    {"dGeomGetCollideBits",                                     (void **) &dGeomGetCollideBits},
//    {"dGeomEnable",                                                   (void **) &dGeomEnable},
//    {"dGeomDisable",                                            (void **) &dGeomDisable},
//    {"dGeomIsEnabled",                                                (void **) &dGeomIsEnabled},
//    {"dGeomSetOffsetPosition",                                  (void **) &dGeomSetOffsetPosition},
//    {"dGeomSetOffsetRotation",                                  (void **) &dGeomSetOffsetRotation},
//    {"dGeomSetOffsetQuaternion",                          (void **) &dGeomSetOffsetQuaternion},
//    {"dGeomSetOffsetWorldPosition",                             (void **) &dGeomSetOffsetWorldPosition},
//    {"dGeomSetOffsetWorldRotation",                             (void **) &dGeomSetOffsetWorldRotation},
//    {"dGeomSetOffsetWorldQuaternion",                     (void **) &dGeomSetOffsetWorldQuaternion},
//    {"dGeomClearOffset",                                        (void **) &dGeomClearOffset},
//    {"dGeomIsOffset",                                           (void **) &dGeomIsOffset},
//    {"dGeomGetOffsetPosition",                                  (void **) &dGeomGetOffsetPosition},
//    {"dGeomCopyOffsetPosition",                                 (void **) &dGeomCopyOffsetPosition},
//    {"dGeomGetOffsetRotation",                                  (void **) &dGeomGetOffsetRotation},
//    {"dGeomCopyOffsetRotation",                                 (void **) &dGeomCopyOffsetRotation},
//    {"dGeomGetOffsetQuaternion",                          (void **) &dGeomGetOffsetQuaternion},
      {"dCollide",                                                      (void **) &dCollide},
      {"dSpaceCollide",                                           (void **) &dSpaceCollide},
      {"dSpaceCollide2",                                                (void **) &dSpaceCollide2},
      {"dCreateSphere",                                           (void **) &dCreateSphere},
//    {"dGeomSphereSetRadius",                                    (void **) &dGeomSphereSetRadius},
//    {"dGeomSphereGetRadius",                                    (void **) &dGeomSphereGetRadius},
//    {"dGeomSpherePointDepth",                                   (void **) &dGeomSpherePointDepth},
//    {"dCreateConvex",                                           (void **) &dCreateConvex},
//    {"dGeomSetConvex",                                                (void **) &dGeomSetConvex},
      {"dCreateBox",                                                    (void **) &dCreateBox},
//    {"dGeomBoxSetLengths",                                      (void **) &dGeomBoxSetLengths},
//    {"dGeomBoxGetLengths",                                      (void **) &dGeomBoxGetLengths},
//    {"dGeomBoxPointDepth",                                      (void **) &dGeomBoxPointDepth},
//    {"dGeomBoxPointDepth",                                      (void **) &dGeomBoxPointDepth},
//    {"dCreatePlane",                                            (void **) &dCreatePlane},
//    {"dGeomPlaneSetParams",                                     (void **) &dGeomPlaneSetParams},
//    {"dGeomPlaneGetParams",                                     (void **) &dGeomPlaneGetParams},
//    {"dGeomPlanePointDepth",                                    (void **) &dGeomPlanePointDepth},
      {"dCreateCapsule",                                                (void **) &dCreateCapsule},
//    {"dGeomCapsuleSetParams",                                   (void **) &dGeomCapsuleSetParams},
//    {"dGeomCapsuleGetParams",                                   (void **) &dGeomCapsuleGetParams},
//    {"dGeomCapsulePointDepth",                                  (void **) &dGeomCapsulePointDepth},
//    {"dCreateCylinder",                                               (void **) &dCreateCylinder},
//    {"dGeomCylinderSetParams",                                  (void **) &dGeomCylinderSetParams},
//    {"dGeomCylinderGetParams",                                  (void **) &dGeomCylinderGetParams},
//    {"dCreateRay",                                                    (void **) &dCreateRay},
//    {"dGeomRaySetLength",                                       (void **) &dGeomRaySetLength},
//    {"dGeomRayGetLength",                                       (void **) &dGeomRayGetLength},
//    {"dGeomRaySet",                                                   (void **) &dGeomRaySet},
//    {"dGeomRayGet",                                                   (void **) &dGeomRayGet},
      {"dCreateGeomTransform",                                    (void **) &dCreateGeomTransform},
      {"dGeomTransformSetGeom",                                   (void **) &dGeomTransformSetGeom},
//    {"dGeomTransformGetGeom",                                   (void **) &dGeomTransformGetGeom},
      {"dGeomTransformSetCleanup",                          (void **) &dGeomTransformSetCleanup},
//    {"dGeomTransformGetCleanup",                          (void **) &dGeomTransformGetCleanup},
//    {"dGeomTransformSetInfo",                                   (void **) &dGeomTransformSetInfo},
//    {"dGeomTransformGetInfo",                                   (void **) &dGeomTransformGetInfo},
      {"dGeomTriMeshDataCreate",                      (void **) &dGeomTriMeshDataCreate},
      {"dGeomTriMeshDataDestroy",                     (void **) &dGeomTriMeshDataDestroy},
//    {"dGeomTriMeshDataSet",                         (void **) &dGeomTriMeshDataSet},
//    {"dGeomTriMeshDataGet",                         (void **) &dGeomTriMeshDataGet},
//    {"dGeomTriMeshSetLastTransform",                (void **) &dGeomTriMeshSetLastTransform},
//    {"dGeomTriMeshGetLastTransform",                (void **) &dGeomTriMeshGetLastTransform},
      {"dGeomTriMeshDataBuildSingle",                 (void **) &dGeomTriMeshDataBuildSingle},
//    {"dGeomTriMeshDataBuildSingle1",                (void **) &dGeomTriMeshDataBuildSingle1},
//    {"dGeomTriMeshDataBuildDouble",                 (void **) &dGeomTriMeshDataBuildDouble},
//    {"dGeomTriMeshDataBuildDouble1",                (void **) &dGeomTriMeshDataBuildDouble1},
//    {"dGeomTriMeshDataBuildSimple",                 (void **) &dGeomTriMeshDataBuildSimple},
//    {"dGeomTriMeshDataBuildSimple1",                (void **) &dGeomTriMeshDataBuildSimple1},
//    {"dGeomTriMeshDataPreprocess",                  (void **) &dGeomTriMeshDataPreprocess},
//    {"dGeomTriMeshDataGetBuffer",                   (void **) &dGeomTriMeshDataGetBuffer},
//    {"dGeomTriMeshDataSetBuffer",                   (void **) &dGeomTriMeshDataSetBuffer},
//    {"dGeomTriMeshSetCallback",                     (void **) &dGeomTriMeshSetCallback},
//    {"dGeomTriMeshGetCallback",                     (void **) &dGeomTriMeshGetCallback},
//    {"dGeomTriMeshSetArrayCallback",                (void **) &dGeomTriMeshSetArrayCallback},
//    {"dGeomTriMeshGetArrayCallback",                (void **) &dGeomTriMeshGetArrayCallback},
//    {"dGeomTriMeshSetRayCallback",                  (void **) &dGeomTriMeshSetRayCallback},
//    {"dGeomTriMeshGetRayCallback",                  (void **) &dGeomTriMeshGetRayCallback},
//    {"dGeomTriMeshSetTriMergeCallback",             (void **) &dGeomTriMeshSetTriMergeCallback},
//    {"dGeomTriMeshGetTriMergeCallback",             (void **) &dGeomTriMeshGetTriMergeCallback},
      {"dCreateTriMesh",                              (void **) &dCreateTriMesh},
//    {"dGeomTriMeshSetData",                         (void **) &dGeomTriMeshSetData},
//    {"dGeomTriMeshGetData",                         (void **) &dGeomTriMeshGetData},
//    {"dGeomTriMeshEnableTC",                        (void **) &dGeomTriMeshEnableTC},
//    {"dGeomTriMeshIsTCEnabled",                     (void **) &dGeomTriMeshIsTCEnabled},
//    {"dGeomTriMeshClearTCCache",                    (void **) &dGeomTriMeshClearTCCache},
//    {"dGeomTriMeshGetTriMeshDataID",                (void **) &dGeomTriMeshGetTriMeshDataID},
//    {"dGeomTriMeshGetTriangle",                     (void **) &dGeomTriMeshGetTriangle},
//    {"dGeomTriMeshGetPoint",                        (void **) &dGeomTriMeshGetPoint},
//    {"dGeomTriMeshGetTriangleCount",                (void **) &dGeomTriMeshGetTriangleCount},
//    {"dGeomTriMeshDataUpdate",                      (void **) &dGeomTriMeshDataUpdate},
      {NULL, NULL}
};

// Handle for ODE DLL
dllhandle_t ode_dll = NULL;
#endif
#endif

static void World_Physics_Init(void)
{
#ifdef USEODE
#ifdef ODE_DYNAMIC
      const char* dllnames [] =
      {
# if defined(WIN32)
            "libode1.dll",
# elif defined(MACOSX)
            "libode.1.dylib",
# else
            "libode.so.1",
# endif
            NULL
      };
#endif

      Cvar_RegisterVariable(&physics_ode_quadtree_depth);
      Cvar_RegisterVariable(&physics_ode_contactsurfacelayer);
      Cvar_RegisterVariable(&physics_ode_worldstep);
      Cvar_RegisterVariable(&physics_ode_worldstep_iterations);
      Cvar_RegisterVariable(&physics_ode_contact_mu);
      Cvar_RegisterVariable(&physics_ode_contact_erp);
      Cvar_RegisterVariable(&physics_ode_contact_cfm);
      Cvar_RegisterVariable(&physics_ode_world_erp);
      Cvar_RegisterVariable(&physics_ode_world_cfm);
      Cvar_RegisterVariable(&physics_ode_world_damping);
      Cvar_RegisterVariable(&physics_ode_world_damping_linear);
      Cvar_RegisterVariable(&physics_ode_world_damping_linear_threshold);
      Cvar_RegisterVariable(&physics_ode_world_damping_angular);
      Cvar_RegisterVariable(&physics_ode_world_damping_angular_threshold);
      Cvar_RegisterVariable(&physics_ode_iterationsperframe);
      Cvar_RegisterVariable(&physics_ode_constantstep);
      Cvar_RegisterVariable(&physics_ode_movelimit);
      Cvar_RegisterVariable(&physics_ode_spinlimit);
      Cvar_RegisterVariable(&physics_ode_trick_fixnan);
      Cvar_RegisterVariable(&physics_ode_autodisable);
      Cvar_RegisterVariable(&physics_ode_autodisable_steps);
      Cvar_RegisterVariable(&physics_ode_autodisable_time);
      Cvar_RegisterVariable(&physics_ode_autodisable_threshold_linear);
      Cvar_RegisterVariable(&physics_ode_autodisable_threshold_angular);
      Cvar_RegisterVariable(&physics_ode_autodisable_threshold_samples);
      Cvar_RegisterVariable(&physics_ode_printstats);
      Cvar_RegisterVariable(&physics_ode);

#ifdef ODE_DYNAMIC
      // Load the DLL
      if (Sys_LoadLibrary (dllnames, &ode_dll, odefuncs))
#endif
      {
            dInitODE();
//          dInitODE2(0);
#ifdef ODE_DYNAMIC
# ifdef dSINGLE
            if (!dCheckConfiguration("ODE_single_precision"))
# else
            if (!dCheckConfiguration("ODE_double_precision"))
# endif
            {
# ifdef dSINGLE
                  Con_Printf("ODE library not compiled for single precision - incompatible!  Not using ODE physics.\n");
# else
                  Con_Printf("ODE library not compiled for double precision - incompatible!  Not using ODE physics.\n");
# endif
                  Sys_UnloadLibrary(&ode_dll);
                  ode_dll = NULL;
            }
            else
            {
# ifdef dSINGLE
                  Con_Printf("ODE library loaded with single precision.\n");
# else
                  Con_Printf("ODE library loaded with double precision.\n");
# endif
            }
#endif
      }
#endif
}

static void World_Physics_Shutdown(void)
{
#ifdef USEODE
#ifdef ODE_DYNAMIC
      if (ode_dll)
#endif
      {
            dCloseODE();
#ifdef ODE_DYNAMIC
            Sys_UnloadLibrary(&ode_dll);
            ode_dll = NULL;
#endif
      }
#endif
}

#ifdef USEODE
static void World_Physics_UpdateODE(world_t *world)
{
      dWorldID odeworld;

      odeworld = (dWorldID)world->physics.ode_world;

      // ERP and CFM
      if (physics_ode_world_erp.value >= 0)
            dWorldSetERP(odeworld, physics_ode_world_erp.value);
      if (physics_ode_world_cfm.value >= 0)
            dWorldSetCFM(odeworld, physics_ode_world_cfm.value);
      // Damping
      if (physics_ode_world_damping.integer)
      {
            dWorldSetLinearDamping(odeworld, (physics_ode_world_damping_linear.value >= 0) ? (physics_ode_world_damping_linear.value * physics_ode_world_damping.value) : 0);
            dWorldSetLinearDampingThreshold(odeworld, (physics_ode_world_damping_linear_threshold.value >= 0) ? (physics_ode_world_damping_linear_threshold.value * physics_ode_world_damping.value) : 0);
            dWorldSetAngularDamping(odeworld, (physics_ode_world_damping_angular.value >= 0) ? (physics_ode_world_damping_angular.value * physics_ode_world_damping.value) : 0);
            dWorldSetAngularDampingThreshold(odeworld, (physics_ode_world_damping_angular_threshold.value >= 0) ? (physics_ode_world_damping_angular_threshold.value * physics_ode_world_damping.value) : 0);
      }
      else
      {
            dWorldSetLinearDamping(odeworld, 0);
            dWorldSetLinearDampingThreshold(odeworld, 0);
            dWorldSetAngularDamping(odeworld, 0);
            dWorldSetAngularDampingThreshold(odeworld, 0);
      }
      // Autodisable
      dWorldSetAutoDisableFlag(odeworld, (physics_ode_autodisable.integer) ? 1 : 0);
      if (physics_ode_autodisable.integer)
      {
            dWorldSetAutoDisableSteps(odeworld, bound(1, physics_ode_autodisable_steps.integer, 100)); 
            dWorldSetAutoDisableTime(odeworld, physics_ode_autodisable_time.value);
            dWorldSetAutoDisableAverageSamplesCount(odeworld, bound(1, physics_ode_autodisable_threshold_samples.integer, 100));
            dWorldSetAutoDisableLinearThreshold(odeworld, physics_ode_autodisable_threshold_linear.value); 
            dWorldSetAutoDisableAngularThreshold(odeworld, physics_ode_autodisable_threshold_angular.value); 
      }
}

static void World_Physics_EnableODE(world_t *world)
{
      dVector3 center, extents;
      if (world->physics.ode)
            return;
#ifdef ODE_DYNAMIC
      if (!ode_dll)
            return;
#endif
      world->physics.ode = true;
      VectorMAM(0.5f, world->mins, 0.5f, world->maxs, center);
      VectorSubtract(world->maxs, center, extents);
      world->physics.ode_world = dWorldCreate();
      world->physics.ode_space = dQuadTreeSpaceCreate(NULL, center, extents, bound(1, physics_ode_quadtree_depth.integer, 10));
      world->physics.ode_contactgroup = dJointGroupCreate(0);

      World_Physics_UpdateODE(world);
}
#endif

static void World_Physics_Start(world_t *world)
{
#ifdef USEODE
      if (world->physics.ode)
            return;
      World_Physics_EnableODE(world);
#endif
}

static void World_Physics_End(world_t *world)
{
#ifdef USEODE
      if (world->physics.ode)
      {
            dWorldDestroy((dWorldID)world->physics.ode_world);
            dSpaceDestroy((dSpaceID)world->physics.ode_space);
            dJointGroupDestroy((dJointGroupID)world->physics.ode_contactgroup);
            world->physics.ode = false;
      }
#endif
}

void World_Physics_RemoveJointFromEntity(world_t *world, prvm_edict_t *ed)
{
      ed->priv.server->ode_joint_type = 0;
#ifdef USEODE
      if(ed->priv.server->ode_joint)
            dJointDestroy((dJointID)ed->priv.server->ode_joint);
      ed->priv.server->ode_joint = NULL;
#endif
}

void World_Physics_RemoveFromEntity(world_t *world, prvm_edict_t *ed)
{
      edict_odefunc_t *f, *nf;

      // entity is not physics controlled, free any physics data
      ed->priv.server->ode_physics = false;
#ifdef USEODE
      if (ed->priv.server->ode_geom)
            dGeomDestroy((dGeomID)ed->priv.server->ode_geom);
      ed->priv.server->ode_geom = NULL;
      if (ed->priv.server->ode_body)
      {
            dJointID j;
            dBodyID b1, b2;
            prvm_edict_t *ed2;
            while(dBodyGetNumJoints((dBodyID)ed->priv.server->ode_body))
            {
                  j = dBodyGetJoint((dBodyID)ed->priv.server->ode_body, 0);
                  ed2 = (prvm_edict_t *) dJointGetData(j);
                  b1 = dJointGetBody(j, 0);
                  b2 = dJointGetBody(j, 1);
                  if(b1 == (dBodyID)ed->priv.server->ode_body)
                  {
                        b1 = 0;
                        ed2->priv.server->ode_joint_enemy = 0;
                  }
                  if(b2 == (dBodyID)ed->priv.server->ode_body)
                  {
                        b2 = 0;
                        ed2->priv.server->ode_joint_aiment = 0;
                  }
                  dJointAttach(j, b1, b2);
            }
            dBodyDestroy((dBodyID)ed->priv.server->ode_body);
      }
      ed->priv.server->ode_body = NULL;
#endif
      if (ed->priv.server->ode_vertex3f)
            Mem_Free(ed->priv.server->ode_vertex3f);
      ed->priv.server->ode_vertex3f = NULL;
      ed->priv.server->ode_numvertices = 0;
      if (ed->priv.server->ode_element3i)
            Mem_Free(ed->priv.server->ode_element3i);
      ed->priv.server->ode_element3i = NULL;
      ed->priv.server->ode_numtriangles = 0;
      if(ed->priv.server->ode_massbuf)
            Mem_Free(ed->priv.server->ode_massbuf);
      ed->priv.server->ode_massbuf = NULL;
      // clear functions stack
      for(f = ed->priv.server->ode_func; f; f = nf)
      {
            nf = f->next;
            Mem_Free(f);
      }
      ed->priv.server->ode_func = NULL;
}

void World_Physics_ApplyCmd(prvm_edict_t *ed, edict_odefunc_t *f)
{
      dBodyID body = (dBodyID)ed->priv.server->ode_body;

#ifdef USEODE
      switch(f->type)
      {
      case ODEFUNC_ENABLE:
            dBodyEnable(body);
            break;
      case ODEFUNC_DISABLE:
            dBodyDisable(body);
            break;
      case ODEFUNC_RELFORCEATPOS:
            dBodyEnable(body);
            dBodyAddForceAtRelPos(body, f->v1[0], f->v1[1], f->v1[2], f->v2[0], f->v2[1], f->v2[2]);
            break;
      case ODEFUNC_RELTORQUE:
            dBodyEnable(body);
            dBodyAddRelTorque(body, f->v1[0], f->v1[1], f->v1[2]);
            break;
      default:
            break;
      }
#endif
}

#ifdef USEODE
static void World_Physics_Frame_BodyToEntity(world_t *world, prvm_edict_t *ed)
{
      const dReal *avel;
      const dReal *o;
      const dReal *r; // for some reason dBodyGetRotation returns a [3][4] matrix
      const dReal *vel;
      dBodyID body = (dBodyID)ed->priv.server->ode_body;
      int movetype;
      matrix4x4_t bodymatrix;
      matrix4x4_t entitymatrix;
      vec3_t angles;
      vec3_t avelocity;
      vec3_t forward, left, up;
      vec3_t origin;
      vec3_t spinvelocity;
      vec3_t velocity;
      int jointtype;
      if (!body)
            return;
      movetype = (int)PRVM_gameedictfloat(ed, movetype);
      if (movetype != MOVETYPE_PHYSICS)
      {
            jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
            switch(jointtype)
            {
                  // TODO feed back data from physics
                  case JOINTTYPE_POINT:
                        break;
                  case JOINTTYPE_HINGE:
                        break;
                  case JOINTTYPE_SLIDER:
                        break;
                  case JOINTTYPE_UNIVERSAL:
                        break;
                  case JOINTTYPE_HINGE2:
                        break;
                  case JOINTTYPE_FIXED:
                        break;
            }
            return;
      }
      // store the physics engine data into the entity
      o = dBodyGetPosition(body);
      r = dBodyGetRotation(body);
      vel = dBodyGetLinearVel(body);
      avel = dBodyGetAngularVel(body);
      VectorCopy(o, origin);
      forward[0] = r[0];
      forward[1] = r[4];
      forward[2] = r[8];
      left[0] = r[1];
      left[1] = r[5];
      left[2] = r[9];
      up[0] = r[2];
      up[1] = r[6];
      up[2] = r[10];
      VectorCopy(vel, velocity);
      VectorCopy(avel, spinvelocity);
      Matrix4x4_FromVectors(&bodymatrix, forward, left, up, origin);
      Matrix4x4_Concat(&entitymatrix, &bodymatrix, &ed->priv.server->ode_offsetimatrix);
      Matrix4x4_ToVectors(&entitymatrix, forward, left, up, origin);

      AnglesFromVectors(angles, forward, up, false);
      VectorSet(avelocity, RAD2DEG(spinvelocity[PITCH]), RAD2DEG(spinvelocity[ROLL]), RAD2DEG(spinvelocity[YAW]));

      {
            float pitchsign = 1;
            if(!strcmp(prog->name, "server")) // FIXME some better way?
            {
                  pitchsign = SV_GetPitchSign(ed);
            }
            else if(!strcmp(prog->name, "client"))
            {
                  pitchsign = CL_GetPitchSign(ed);
            }
            angles[PITCH] *= pitchsign;
            avelocity[PITCH] *= pitchsign;
      }

      VectorCopy(origin, PRVM_gameedictvector(ed, origin));
      VectorCopy(velocity, PRVM_gameedictvector(ed, velocity));
      //VectorCopy(forward, PRVM_gameedictvector(ed, axis_forward));
      //VectorCopy(left, PRVM_gameedictvector(ed, axis_left));
      //VectorCopy(up, PRVM_gameedictvector(ed, axis_up));
      //VectorCopy(spinvelocity, PRVM_gameedictvector(ed, spinvelocity));
      VectorCopy(angles, PRVM_gameedictvector(ed, angles));
      VectorCopy(avelocity, PRVM_gameedictvector(ed, avelocity));

      // values for BodyFromEntity to check if the qc modified anything later
      VectorCopy(origin, ed->priv.server->ode_origin);
      VectorCopy(velocity, ed->priv.server->ode_velocity);
      VectorCopy(angles, ed->priv.server->ode_angles);
      VectorCopy(avelocity, ed->priv.server->ode_avelocity);
      ed->priv.server->ode_gravity = dBodyGetGravityMode(body) != 0;

      if(!strcmp(prog->name, "server")) // FIXME some better way?
      {
            SV_LinkEdict(ed);
            SV_LinkEdict_TouchAreaGrid(ed);
      }
}

static void World_Physics_Frame_JointFromEntity(world_t *world, prvm_edict_t *ed)
{
      dJointID j = 0;
      dBodyID b1 = 0;
      dBodyID b2 = 0;
      int movetype = 0;
      int jointtype = 0;
      int enemy = 0, aiment = 0;
      vec3_t origin, velocity, angles, forward, left, up, movedir;
      vec_t CFM, ERP, FMax, Stop, Vel;
      VectorClear(origin);
      VectorClear(velocity);
      VectorClear(angles);
      VectorClear(movedir);
      movetype = (int)PRVM_gameedictfloat(ed, movetype);
      jointtype = (int)PRVM_gameedictfloat(ed, jointtype);
      enemy = PRVM_gameedictedict(ed, enemy);
      aiment = PRVM_gameedictedict(ed, aiment);
      VectorCopy(PRVM_gameedictvector(ed, origin), origin);
      VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
      VectorCopy(PRVM_gameedictvector(ed, angles), angles);
      VectorCopy(PRVM_gameedictvector(ed, movedir), movedir);
      if(movetype == MOVETYPE_PHYSICS)
            jointtype = 0; // can't have both
      if(enemy <= 0 || enemy >= prog->num_edicts || prog->edicts[enemy].priv.required->free || prog->edicts[enemy].priv.server->ode_body == 0)
            enemy = 0;
      if(aiment <= 0 || aiment >= prog->num_edicts || prog->edicts[aiment].priv.required->free || prog->edicts[aiment].priv.server->ode_body == 0)
            aiment = 0;
      // see http://www.ode.org/old_list_archives/2006-January/017614.html
      // we want to set ERP? make it fps independent and work like a spring constant
      // note: if movedir[2] is 0, it becomes ERP = 1, CFM = 1.0 / (H * K)
      if(movedir[0] > 0 && movedir[1] > 0)
      {
            float K = movedir[0];
            float D = movedir[1];
            float R = 2.0 * D * sqrt(K); // we assume D is premultiplied by sqrt(sprungMass)
            CFM = 1.0 / (world->physics.ode_step * K + R); // always > 0
            ERP = world->physics.ode_step * K * CFM;
            Vel = 0;
            FMax = 0;
            Stop = movedir[2];
      }
      else if(movedir[1] < 0)
      {
            CFM = 0;
            ERP = 0;
            Vel = movedir[0];
            FMax = -movedir[1]; // TODO do we need to multiply with world.physics.ode_step?
            Stop = movedir[2] > 0 ? movedir[2] : dInfinity;
      }
      else // movedir[0] > 0, movedir[1] == 0 or movedir[0] < 0, movedir[1] >= 0
      {
            CFM = 0;
            ERP = 0;
            Vel = 0;
            FMax = 0;
            Stop = dInfinity;
      }
      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))
            return; // nothing to do
      AngleVectorsFLU(angles, forward, left, up);
      switch(jointtype)
      {
            case JOINTTYPE_POINT:
                  j = dJointCreateBall((dWorldID)world->physics.ode_world, 0);
                  break;
            case JOINTTYPE_HINGE:
                  j = dJointCreateHinge((dWorldID)world->physics.ode_world, 0);
                  break;
            case JOINTTYPE_SLIDER:
                  j = dJointCreateSlider((dWorldID)world->physics.ode_world, 0);
                  break;
            case JOINTTYPE_UNIVERSAL:
                  j = dJointCreateUniversal((dWorldID)world->physics.ode_world, 0);
                  break;
            case JOINTTYPE_HINGE2:
                  j = dJointCreateHinge2((dWorldID)world->physics.ode_world, 0);
                  break;
            case JOINTTYPE_FIXED:
                  j = dJointCreateFixed((dWorldID)world->physics.ode_world, 0);
                  break;
            case 0:
            default:
                  // no joint
                  j = 0;
                  break;
      }
      if(ed->priv.server->ode_joint)
      {
            //Con_Printf("deleted old joint %i\n", (int) (ed - prog->edicts));
            dJointAttach((dJointID)ed->priv.server->ode_joint, 0, 0);
            dJointDestroy((dJointID)ed->priv.server->ode_joint);
      }
      ed->priv.server->ode_joint = (void *) j;
      ed->priv.server->ode_joint_type = jointtype;
      ed->priv.server->ode_joint_enemy = enemy;
      ed->priv.server->ode_joint_aiment = aiment;
      VectorCopy(origin, ed->priv.server->ode_joint_origin);
      VectorCopy(velocity, ed->priv.server->ode_joint_velocity);
      VectorCopy(angles, ed->priv.server->ode_joint_angles);
      VectorCopy(movedir, ed->priv.server->ode_joint_movedir);
      if(j)
      {
            //Con_Printf("made new joint %i\n", (int) (ed - prog->edicts));
            dJointSetData(j, (void *) ed);
            if(enemy)
                  b1 = (dBodyID)prog->edicts[enemy].priv.server->ode_body;
            if(aiment)
                  b2 = (dBodyID)prog->edicts[aiment].priv.server->ode_body;
            dJointAttach(j, b1, b2);

            switch(jointtype)
            {
                  case JOINTTYPE_POINT:
                        dJointSetBallAnchor(j, origin[0], origin[1], origin[2]);
                        break;
                  case JOINTTYPE_HINGE:
                        dJointSetHingeAnchor(j, origin[0], origin[1], origin[2]);
                        dJointSetHingeAxis(j, forward[0], forward[1], forward[2]);
                        dJointSetHingeParam(j, dParamFMax, FMax);
                        dJointSetHingeParam(j, dParamHiStop, Stop);
                        dJointSetHingeParam(j, dParamLoStop, -Stop);
                        dJointSetHingeParam(j, dParamStopCFM, CFM);
                        dJointSetHingeParam(j, dParamStopERP, ERP);
                        dJointSetHingeParam(j, dParamVel, Vel);
                        break;
                  case JOINTTYPE_SLIDER:
                        dJointSetSliderAxis(j, forward[0], forward[1], forward[2]);
                        dJointSetSliderParam(j, dParamFMax, FMax);
                        dJointSetSliderParam(j, dParamHiStop, Stop);
                        dJointSetSliderParam(j, dParamLoStop, -Stop);
                        dJointSetSliderParam(j, dParamStopCFM, CFM);
                        dJointSetSliderParam(j, dParamStopERP, ERP);
                        dJointSetSliderParam(j, dParamVel, Vel);
                        break;
                  case JOINTTYPE_UNIVERSAL:
                        dJointSetUniversalAnchor(j, origin[0], origin[1], origin[2]);
                        dJointSetUniversalAxis1(j, forward[0], forward[1], forward[2]);
                        dJointSetUniversalAxis2(j, up[0], up[1], up[2]);
                        dJointSetUniversalParam(j, dParamFMax, FMax);
                        dJointSetUniversalParam(j, dParamHiStop, Stop);
                        dJointSetUniversalParam(j, dParamLoStop, -Stop);
                        dJointSetUniversalParam(j, dParamStopCFM, CFM);
                        dJointSetUniversalParam(j, dParamStopERP, ERP);
                        dJointSetUniversalParam(j, dParamVel, Vel);
                        dJointSetUniversalParam(j, dParamFMax2, FMax);
                        dJointSetUniversalParam(j, dParamHiStop2, Stop);
                        dJointSetUniversalParam(j, dParamLoStop2, -Stop);
                        dJointSetUniversalParam(j, dParamStopCFM2, CFM);
                        dJointSetUniversalParam(j, dParamStopERP2, ERP);
                        dJointSetUniversalParam(j, dParamVel2, Vel);
                        break;
                  case JOINTTYPE_HINGE2:
                        dJointSetHinge2Anchor(j, origin[0], origin[1], origin[2]);
                        dJointSetHinge2Axis1(j, forward[0], forward[1], forward[2]);
                        dJointSetHinge2Axis2(j, velocity[0], velocity[1], velocity[2]);
                        dJointSetHinge2Param(j, dParamFMax, FMax);
                        dJointSetHinge2Param(j, dParamHiStop, Stop);
                        dJointSetHinge2Param(j, dParamLoStop, -Stop);
                        dJointSetHinge2Param(j, dParamStopCFM, CFM);
                        dJointSetHinge2Param(j, dParamStopERP, ERP);
                        dJointSetHinge2Param(j, dParamVel, Vel);
                        dJointSetHinge2Param(j, dParamFMax2, FMax);
                        dJointSetHinge2Param(j, dParamHiStop2, Stop);
                        dJointSetHinge2Param(j, dParamLoStop2, -Stop);
                        dJointSetHinge2Param(j, dParamStopCFM2, CFM);
                        dJointSetHinge2Param(j, dParamStopERP2, ERP);
                        dJointSetHinge2Param(j, dParamVel2, Vel);
                        break;
                  case JOINTTYPE_FIXED:
                        break;
                  case 0:
                  default:
                        Sys_Error("what? but above the joint was valid...\n");
                        break;
            }
#undef SETPARAMS

      }
}

static void World_Physics_Frame_BodyFromEntity(world_t *world, prvm_edict_t *ed)
{
      const float *iv;
      const int *ie;
      dBodyID body = (dBodyID)ed->priv.server->ode_body;
      dMass mass;
      dReal test;
      const dReal *ovelocity, *ospinvelocity;
      void *dataID;
      dVector3 capsulerot[3];
      dp_model_t *model;
      float *ov;
      int *oe;
      int axisindex;
      int modelindex = 0;
      int movetype = MOVETYPE_NONE;
      int numtriangles;
      int numvertices;
      int solid = SOLID_NOT;
      int triangleindex;
      int vertexindex;
      mempool_t *mempool;
      qboolean modified = false;
      vec3_t angles;
      vec3_t avelocity;
      vec3_t entmaxs;
      vec3_t entmins;
      vec3_t forward;
      vec3_t geomcenter;
      vec3_t geomsize;
      vec3_t left;
      vec3_t origin;
      vec3_t spinvelocity;
      vec3_t up;
      vec3_t velocity;
      vec_t f;
      vec_t length;
      vec_t massval = 1.0f;
      vec_t movelimit;
      vec_t radius;
      vec_t scale = 1.0f;
      vec_t spinlimit;
      qboolean gravity;
      edict_odefunc_t *func, *nextf;

#ifdef ODE_DYNAMIC
      if (!ode_dll)
            return;
#endif
      VectorClear(entmins);
      VectorClear(entmaxs);
      solid = (int)PRVM_gameedictfloat(ed, solid);
      movetype = (int)PRVM_gameedictfloat(ed, movetype);
      scale = PRVM_gameedictfloat(ed, scale);if (!scale) scale = 1.0f;
      modelindex = 0;
      if (world == &sv.world)
            mempool = sv_mempool;
      else if (world == &cl.world)
            mempool = cls.levelmempool;
      else
            mempool = NULL;
      model = NULL;
      switch(solid)
      {
      case SOLID_BSP:
            modelindex = (int)PRVM_gameedictfloat(ed, modelindex);
            if (world == &sv.world)
                  model = SV_GetModelByIndex(modelindex);
            else if (world == &cl.world)
                  model = CL_GetModelByIndex(modelindex);
            else
                  model = NULL;
            if (model)
            {
                  VectorScale(model->normalmins, scale, entmins);
                  VectorScale(model->normalmaxs, scale, entmaxs);
                  massval = PRVM_gameedictfloat(ed, mass);
            }
            else
            {
                  modelindex = 0;
                  massval = 1.0f;
            }
            break;
      case SOLID_BBOX:
      //case SOLID_SLIDEBOX:
      case SOLID_CORPSE:
      case SOLID_PHYSICS_BOX:
      case SOLID_PHYSICS_SPHERE:
      case SOLID_PHYSICS_CAPSULE:
            VectorCopy(PRVM_gameedictvector(ed, mins), entmins);
            VectorCopy(PRVM_gameedictvector(ed, maxs), entmaxs);
            massval = PRVM_gameedictfloat(ed, mass);
            break;
      default:
            if (ed->priv.server->ode_physics)
                  World_Physics_RemoveFromEntity(world, ed);
            return;
      }

      VectorSubtract(entmaxs, entmins, geomsize);
      if (VectorLength2(geomsize) == 0)
      {
            // we don't allow point-size physics objects...
            if (ed->priv.server->ode_physics)
                  World_Physics_RemoveFromEntity(world, ed);
            return;
      }

      if (movetype != MOVETYPE_PHYSICS)
            massval = 1.0f;

      // check if we need to create or replace the geom
      if (!ed->priv.server->ode_physics
       || !VectorCompare(ed->priv.server->ode_mins, entmins)
       || !VectorCompare(ed->priv.server->ode_maxs, entmaxs)
       || ed->priv.server->ode_mass != massval
       || ed->priv.server->ode_modelindex != modelindex)
      {
            modified = true;
            World_Physics_RemoveFromEntity(world, ed);
            ed->priv.server->ode_physics = true;
            VectorCopy(entmins, ed->priv.server->ode_mins);
            VectorCopy(entmaxs, ed->priv.server->ode_maxs);
            ed->priv.server->ode_mass = massval;
            ed->priv.server->ode_modelindex = modelindex;
            VectorMAM(0.5f, entmins, 0.5f, entmaxs, geomcenter);
            ed->priv.server->ode_movelimit = min(geomsize[0], min(geomsize[1], geomsize[2]));

            if (massval * geomsize[0] * geomsize[1] * geomsize[2] == 0)
            {
                  if (movetype == MOVETYPE_PHYSICS)
                        Con_Printf("entity %i (classname %s) .mass * .size_x * .size_y * .size_z == 0\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
                  massval = 1.0f;
                  VectorSet(geomsize, 1.0f, 1.0f, 1.0f);
            }

            switch(solid)
            {
            case SOLID_BSP:
                  ed->priv.server->ode_offsetmatrix = identitymatrix;
                  if (!model)
                  {
                        Con_Printf("entity %i (classname %s) has no model\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
                        goto treatasbox;
                  }
                  // add an optimized mesh to the model containing only the SUPERCONTENTS_SOLID surfaces
                  if (!model->brush.collisionmesh)
                        Mod_CreateCollisionMesh(model);
                  if (!model->brush.collisionmesh || !model->brush.collisionmesh->numtriangles)
                  {
                        Con_Printf("entity %i (classname %s) has no geometry\n", PRVM_NUM_FOR_EDICT(ed), PRVM_GetString(PRVM_gameedictstring(ed, classname)));
                        goto treatasbox;
                  }
                  // ODE requires persistent mesh storage, so we need to copy out
                  // the data from the model because renderer restarts could free it
                  // during the game, additionally we need to flip the triangles...
                  // note: ODE does preprocessing of the mesh for culling, removing
                  // concave edges, etc., so this is not a lightweight operation
                  ed->priv.server->ode_numvertices = numvertices = model->brush.collisionmesh->numverts;
                  ed->priv.server->ode_vertex3f = (float *)Mem_Alloc(mempool, numvertices * sizeof(float[3]));
                  for (vertexindex = 0, ov = ed->priv.server->ode_vertex3f, iv = model->brush.collisionmesh->vertex3f;vertexindex < numvertices;vertexindex++, ov += 3, iv += 3)
                  {
                        ov[0] = iv[0] - geomcenter[0];
                        ov[1] = iv[1] - geomcenter[1];
                        ov[2] = iv[2] - geomcenter[2];
                  }
                  ed->priv.server->ode_numtriangles = numtriangles = model->brush.collisionmesh->numtriangles;
                  ed->priv.server->ode_element3i = (int *)Mem_Alloc(mempool, numtriangles * sizeof(int[3]));
                  //memcpy(ed->priv.server->ode_element3i, model->brush.collisionmesh->element3i, ed->priv.server->ode_numtriangles * sizeof(int[3]));
                  for (triangleindex = 0, oe = ed->priv.server->ode_element3i, ie = model->brush.collisionmesh->element3i;triangleindex < numtriangles;triangleindex++, oe += 3, ie += 3)
                  {
                        oe[0] = ie[2];
                        oe[1] = ie[1];
                        oe[2] = ie[0];
                  }
                  Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
                  // now create the geom
                  dataID = dGeomTriMeshDataCreate();
                  dGeomTriMeshDataBuildSingle((dTriMeshDataID)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]));
                  ed->priv.server->ode_geom = (void *)dCreateTriMesh((dSpaceID)world->physics.ode_space, (dTriMeshDataID)dataID, NULL, NULL, NULL);
                  dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
                  break;
            case SOLID_BBOX:
            case SOLID_SLIDEBOX:
            case SOLID_CORPSE:
            case SOLID_PHYSICS_BOX:
treatasbox:
                  Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
                  ed->priv.server->ode_geom = (void *)dCreateBox((dSpaceID)world->physics.ode_space, geomsize[0], geomsize[1], geomsize[2]);
                  dMassSetBoxTotal(&mass, massval, geomsize[0], geomsize[1], geomsize[2]);
                  break;
            case SOLID_PHYSICS_SPHERE:
                  Matrix4x4_CreateTranslate(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2]);
                  ed->priv.server->ode_geom = (void *)dCreateSphere((dSpaceID)world->physics.ode_space, geomsize[0] * 0.5f);
                  dMassSetSphereTotal(&mass, massval, geomsize[0] * 0.5f);
                  break;
            case SOLID_PHYSICS_CAPSULE:
                  axisindex = 0;
                  if (geomsize[axisindex] < geomsize[1])
                        axisindex = 1;
                  if (geomsize[axisindex] < geomsize[2])
                        axisindex = 2;
                  // the qc gives us 3 axis radius, the longest axis is the capsule
                  // axis, since ODE doesn't like this idea we have to create a
                  // capsule which uses the standard orientation, and apply a
                  // transform to it
                  memset(capsulerot, 0, sizeof(capsulerot));
                  if (axisindex == 0)
                        Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 90, 1);
                  else if (axisindex == 1)
                        Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 90, 0, 0, 1);
                  else
                        Matrix4x4_CreateFromQuakeEntity(&ed->priv.server->ode_offsetmatrix, geomcenter[0], geomcenter[1], geomcenter[2], 0, 0, 0, 1);
                  radius = geomsize[!axisindex] * 0.5f; // any other axis is the radius
                  length = geomsize[axisindex] - radius*2;
                  // because we want to support more than one axisindex, we have to
                  // create a transform, and turn on its cleanup setting (which will
                  // cause the child to be destroyed when it is destroyed)
                  ed->priv.server->ode_geom = (void *)dCreateCapsule((dSpaceID)world->physics.ode_space, radius, length);
                  dMassSetCapsuleTotal(&mass, massval, axisindex+1, radius, length);
                  break;
            default:
                  Sys_Error("World_Physics_BodyFromEntity: unrecognized solid value %i was accepted by filter\n", solid);
                  // this goto only exists to prevent warnings from the compiler
                  // about uninitialized variables (mass), while allowing it to
                  // catch legitimate uninitialized variable warnings
                  goto treatasbox;
            }
            Matrix4x4_Invert_Simple(&ed->priv.server->ode_offsetimatrix, &ed->priv.server->ode_offsetmatrix);
            ed->priv.server->ode_massbuf = Mem_Alloc(mempool, sizeof(mass));
            memcpy(ed->priv.server->ode_massbuf, &mass, sizeof(dMass));
      }

      if(ed->priv.server->ode_geom)
            dGeomSetData((dGeomID)ed->priv.server->ode_geom, (void*)ed);
      if (movetype == MOVETYPE_PHYSICS && ed->priv.server->ode_geom)
      {
            if (ed->priv.server->ode_body == NULL)
            {
                  ed->priv.server->ode_body = (void *)(body = dBodyCreate((dWorldID)world->physics.ode_world));
                  dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
                  dBodySetData(body, (void*)ed);
                  dBodySetMass(body, (dMass *) ed->priv.server->ode_massbuf);
                  modified = true;
            }
      }
      else
      {
            if (ed->priv.server->ode_body != NULL)
            {
                  if(ed->priv.server->ode_geom)
                        dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
                  dBodyDestroy((dBodyID) ed->priv.server->ode_body);
                  ed->priv.server->ode_body = NULL;
                  modified = true;
            }
      }

      // get current data from entity
      VectorClear(origin);
      VectorClear(velocity);
      //VectorClear(forward);
      //VectorClear(left);
      //VectorClear(up);
      //VectorClear(spinvelocity);
      VectorClear(angles);
      VectorClear(avelocity);
      gravity = true;
      VectorCopy(PRVM_gameedictvector(ed, origin), origin);
      VectorCopy(PRVM_gameedictvector(ed, velocity), velocity);
      //VectorCopy(PRVM_gameedictvector(ed, axis_forward), forward);
      //VectorCopy(PRVM_gameedictvector(ed, axis_left), left);
      //VectorCopy(PRVM_gameedictvector(ed, axis_up), up);
      //VectorCopy(PRVM_gameedictvector(ed, spinvelocity), spinvelocity);
      VectorCopy(PRVM_gameedictvector(ed, angles), angles);
      VectorCopy(PRVM_gameedictvector(ed, avelocity), avelocity);
      if (PRVM_gameedictfloat(ed, gravity) != 0.0f && PRVM_gameedictfloat(ed, gravity) < 0.5f) gravity = false;
      if (ed == prog->edicts)
            gravity = false;

      // compatibility for legacy entities
      //if (!VectorLength2(forward) || solid == SOLID_BSP)
      {
            float pitchsign = 1;
            vec3_t qangles, qavelocity;
            VectorCopy(angles, qangles);
            VectorCopy(avelocity, qavelocity);

            if(!strcmp(prog->name, "server")) // FIXME some better way?
            {
                  pitchsign = SV_GetPitchSign(ed);
            }
            else if(!strcmp(prog->name, "client"))
            {
                  pitchsign = CL_GetPitchSign(ed);
            }
            qangles[PITCH] *= pitchsign;
            qavelocity[PITCH] *= pitchsign;

            AngleVectorsFLU(qangles, forward, left, up);
            // convert single-axis rotations in avelocity to spinvelocity
            // FIXME: untested math - check signs
            VectorSet(spinvelocity, DEG2RAD(qavelocity[PITCH]), DEG2RAD(qavelocity[ROLL]), DEG2RAD(qavelocity[YAW]));
      }

      // compatibility for legacy entities
      switch (solid)
      {
      case SOLID_BBOX:
      case SOLID_SLIDEBOX:
      case SOLID_CORPSE:
            VectorSet(forward, 1, 0, 0);
            VectorSet(left, 0, 1, 0);
            VectorSet(up, 0, 0, 1);
            VectorSet(spinvelocity, 0, 0, 0);
            break;
      }


      // we must prevent NANs...
      if (physics_ode_trick_fixnan.integer)
      {
            test = VectorLength2(origin) + VectorLength2(forward) + VectorLength2(left) + VectorLength2(up) + VectorLength2(velocity) + VectorLength2(spinvelocity);
            if (IS_NAN(test))
            {
                  modified = true;
                  //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_gameedictstring(ed, classname)), 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]);
                  if (physics_ode_trick_fixnan.integer >= 2)
                        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_gameedictstring(ed, classname)), origin[0], origin[1], origin[2], velocity[0], velocity[1], velocity[2], angles[0], angles[1], angles[2], avelocity[0], avelocity[1], avelocity[2]);
                  test = VectorLength2(origin);
                  if (IS_NAN(test))
                        VectorClear(origin);
                  test = VectorLength2(forward) * VectorLength2(left) * VectorLength2(up);
                  if (IS_NAN(test))
                  {
                        VectorSet(angles, 0, 0, 0);
                        VectorSet(forward, 1, 0, 0);
                        VectorSet(left, 0, 1, 0);
                        VectorSet(up, 0, 0, 1);
                  }
                  test = VectorLength2(velocity);
                  if (IS_NAN(test))
                        VectorClear(velocity);
                  test = VectorLength2(spinvelocity);
                  if (IS_NAN(test))
                  {
                        VectorClear(avelocity);
                        VectorClear(spinvelocity);
                  }
            }
      }

      // check if the qc edited any position data
      if (!VectorCompare(origin, ed->priv.server->ode_origin)
       || !VectorCompare(velocity, ed->priv.server->ode_velocity)
       || !VectorCompare(angles, ed->priv.server->ode_angles)
       || !VectorCompare(avelocity, ed->priv.server->ode_avelocity)
       || gravity != ed->priv.server->ode_gravity)
            modified = true;

      // store the qc values into the physics engine
      body = (dBodyID)ed->priv.server->ode_body;
      if (modified && ed->priv.server->ode_geom)
      {
            dVector3 r[3];
            matrix4x4_t entitymatrix;
            matrix4x4_t bodymatrix;

#if 0
            Con_Printf("entity %i got changed by QC\n", (int) (ed - prog->edicts));
            if(!VectorCompare(origin, ed->priv.server->ode_origin))
                  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]);
            if(!VectorCompare(velocity, ed->priv.server->ode_velocity))
                  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]);
            if(!VectorCompare(angles, ed->priv.server->ode_angles))
                  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]);
            if(!VectorCompare(avelocity, ed->priv.server->ode_avelocity))
                  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]);
            if(gravity != ed->priv.server->ode_gravity)
                  Con_Printf("  gravity: %i -> %i\n", ed->priv.server->ode_gravity, gravity);
#endif

            // values for BodyFromEntity to check if the qc modified anything later
            VectorCopy(origin, ed->priv.server->ode_origin);
            VectorCopy(velocity, ed->priv.server->ode_velocity);
            VectorCopy(angles, ed->priv.server->ode_angles);
            VectorCopy(avelocity, ed->priv.server->ode_avelocity);
            ed->priv.server->ode_gravity = gravity;

            Matrix4x4_FromVectors(&entitymatrix, forward, left, up, origin);
            Matrix4x4_Concat(&bodymatrix, &entitymatrix, &ed->priv.server->ode_offsetmatrix);
            Matrix4x4_ToVectors(&bodymatrix, forward, left, up, origin);
            r[0][0] = forward[0];
            r[1][0] = forward[1];
            r[2][0] = forward[2];
            r[0][1] = left[0];
            r[1][1] = left[1];
            r[2][1] = left[2];
            r[0][2] = up[0];
            r[1][2] = up[1];
            r[2][2] = up[2];
            if(body)
            {
                  if(movetype == MOVETYPE_PHYSICS)
                  {
                        dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
                        dBodySetPosition(body, origin[0], origin[1], origin[2]);
                        dBodySetRotation(body, r[0]);
                        dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
                        dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
                        dBodySetGravityMode(body, gravity);
                  }
                  else
                  {
                        dGeomSetBody((dGeomID)ed->priv.server->ode_geom, body);
                        dBodySetPosition(body, origin[0], origin[1], origin[2]);
                        dBodySetRotation(body, r[0]);
                        dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
                        dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
                        dBodySetGravityMode(body, gravity);
                        dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0);
                  }
            }
            else
            {
                  // no body... then let's adjust the parameters of the geom directly
                  dGeomSetBody((dGeomID)ed->priv.server->ode_geom, 0); // just in case we previously HAD a body (which should never happen)
                  dGeomSetPosition((dGeomID)ed->priv.server->ode_geom, origin[0], origin[1], origin[2]);
                  dGeomSetRotation((dGeomID)ed->priv.server->ode_geom, r[0]);
            }
      }

      if(body)
      {

            // limit movement speed to prevent missed collisions at high speed
            ovelocity = dBodyGetLinearVel(body);
            ospinvelocity = dBodyGetAngularVel(body);
            movelimit = ed->priv.server->ode_movelimit * world->physics.ode_movelimit;
            test = VectorLength2(ovelocity);
            if (test > movelimit*movelimit)
            {
                  // scale down linear velocity to the movelimit
                  // scale down angular velocity the same amount for consistency
                  f = movelimit / sqrt(test);
                  VectorScale(ovelocity, f, velocity);
                  VectorScale(ospinvelocity, f, spinvelocity);
                  dBodySetLinearVel(body, velocity[0], velocity[1], velocity[2]);
                  dBodySetAngularVel(body, spinvelocity[0], spinvelocity[1], spinvelocity[2]);
            }

            // make sure the angular velocity is not exploding
            spinlimit = physics_ode_spinlimit.value;
            test = VectorLength2(ospinvelocity);
            if (test > spinlimit)
            {
                  dBodySetAngularVel(body, 0, 0, 0);
            }

            // apply functions and clear stack
            for(func = ed->priv.server->ode_func; func; func = nextf)
            {
                  nextf = func->next;
                  World_Physics_ApplyCmd(ed, func);
                  Mem_Free(func);
            }
            ed->priv.server->ode_func = NULL;
      }
}

#define MAX_CONTACTS 16
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
      world_t *world = (world_t *)data;
      dContact contact[MAX_CONTACTS]; // max contacts per collision pair
      dBodyID b1;
      dBodyID b2;
      dJointID c;
      int i;
      int numcontacts;
      float bouncefactor1 = 0.0f;
      float bouncestop1 = 60.0f / 800.0f;
      float bouncefactor2 = 0.0f;
      float bouncestop2 = 60.0f / 800.0f;
      dVector3 grav;
      prvm_edict_t *ed1, *ed2;

      if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
      {
            // colliding a space with something
            dSpaceCollide2(o1, o2, data, &nearCallback);
            // Note we do not want to test intersections within a space,
            // only between spaces.
            //if (dGeomIsSpace(o1)) dSpaceCollide(o1, data, &nearCallback);
            //if (dGeomIsSpace(o2)) dSpaceCollide(o2, data, &nearCallback);
            return;
      }

      b1 = dGeomGetBody(o1);
      b2 = dGeomGetBody(o2);

      // at least one object has to be using MOVETYPE_PHYSICS or we just don't care
      if (!b1 && !b2)
            return;

      // exit without doing anything if the two bodies are connected by a joint
      if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
            return;

      ed1 = (prvm_edict_t *) dGeomGetData(o1);
      if(ed1 && ed1->priv.server->free)
            ed1 = NULL;
      if(ed1)
      {
            bouncefactor1 = PRVM_gameedictfloat(ed1, bouncefactor);
            bouncestop1 = PRVM_gameedictfloat(ed1, bouncestop);
            if (!bouncestop1)
                  bouncestop1 = 60.0f / 800.0f;
      }

      ed2 = (prvm_edict_t *) dGeomGetData(o2);
      if(ed2 && ed2->priv.server->free)
            ed2 = NULL;
      if(ed2)
      {
            bouncefactor2 = PRVM_gameedictfloat(ed2, bouncefactor);
            bouncestop2 = PRVM_gameedictfloat(ed2, bouncestop);
            if (!bouncestop2)
                  bouncestop2 = 60.0f / 800.0f;
      }

      if(!strcmp(prog->name, "server"))
      {
            if(ed1 && PRVM_serveredictfunction(ed1, touch))
            {
                  SV_LinkEdict_TouchAreaGrid_Call(ed1, ed2 ? ed2 : prog->edicts);
            }
            if(ed2 && PRVM_serveredictfunction(ed2, touch))
            {
                  SV_LinkEdict_TouchAreaGrid_Call(ed2, ed1 ? ed1 : prog->edicts);
            }
      }

      // merge bounce factors and bounce stop
      if(bouncefactor2 > 0)
      {
            if(bouncefactor1 > 0)
            {
                  // TODO possibly better logic to merge bounce factor data?
                  if(bouncestop2 < bouncestop1)
                        bouncestop1 = bouncestop2;
                  if(bouncefactor2 > bouncefactor1)
                        bouncefactor1 = bouncefactor2;
            }
            else
            {
                  bouncestop1 = bouncestop2;
                  bouncefactor1 = bouncefactor2;
            }
      }
      dWorldGetGravity((dWorldID)world->physics.ode_world, grav);
      bouncestop1 *= fabs(grav[2]);

      // generate contact points between the two non-space geoms
      numcontacts = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(contact[0]));
      // add these contact points to the simulation
      for (i = 0;i < numcontacts;i++)
      {
            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);
            contact[i].surface.mu = physics_ode_contact_mu.value;
            contact[i].surface.soft_erp = physics_ode_contact_erp.value;
            contact[i].surface.soft_cfm = physics_ode_contact_cfm.value;
            contact[i].surface.bounce = bouncefactor1;
            contact[i].surface.bounce_vel = bouncestop1;
            c = dJointCreateContact((dWorldID)world->physics.ode_world, (dJointGroupID)world->physics.ode_contactgroup, contact + i);
            dJointAttach(c, b1, b2);
      }
}
#endif

void World_Physics_Frame(world_t *world, double frametime, double gravity)
{
      double tdelta, tdelta2, tdelta3, simulationtime, collisiontime;

      tdelta = Sys_DoubleTime();
#ifdef USEODE
      if (world->physics.ode && physics_ode.integer)
      {
            int i;
            prvm_edict_t *ed;

            world->physics.ode_iterations = bound(1, physics_ode_iterationsperframe.integer, 1000);
            if (physics_ode_constantstep.integer)
                  world->physics.ode_step = sys_ticrate.value / world->physics.ode_iterations;
            else
                  world->physics.ode_step = frametime / world->physics.ode_iterations;
            world->physics.ode_movelimit = physics_ode_movelimit.value / world->physics.ode_step;
            World_Physics_UpdateODE(world);

            // copy physics properties from entities to physics engine
            if (prog)
            {
                  for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
                        if (!prog->edicts[i].priv.required->free)
                              World_Physics_Frame_BodyFromEntity(world, ed);
                  // oh, and it must be called after all bodies were created
                  for (i = 0, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
                        if (!prog->edicts[i].priv.required->free)
                              World_Physics_Frame_JointFromEntity(world, ed);
            }

            tdelta2 = Sys_DoubleTime();
            collisiontime = 0;
            for (i = 0;i < world->physics.ode_iterations;i++)
            {
                  // set the gravity
                  dWorldSetGravity((dWorldID)world->physics.ode_world, 0, 0, -gravity);
                  // set the tolerance for closeness of objects
                  dWorldSetContactSurfaceLayer((dWorldID)world->physics.ode_world, max(0, physics_ode_contactsurfacelayer.value));

                  // run collisions for the current world state, creating JointGroup
                  tdelta3 = Sys_DoubleTime();
                  dSpaceCollide((dSpaceID)world->physics.ode_space, (void *)world, nearCallback);
                  collisiontime += (Sys_DoubleTime() - tdelta3)*10000;

                  // run physics (move objects, calculate new velocities)
                  if (physics_ode_worldstep.integer == 2)
                  {
                        dWorldSetQuickStepNumIterations((dWorldID)world->physics.ode_world, bound(1, physics_ode_worldstep_iterations.integer, 200));
                        dWorldQuickStep((dWorldID)world->physics.ode_world, world->physics.ode_step);
                  }
#ifdef ODE_USE_STEPFAST
                  else if (physics_ode_worldstep.integer == 1)
                        dWorldStepFast1((dWorldID)world->physics.ode_world, world->physics.ode_step, bound(1, physics_ode_worldstep_iterations.integer, 200));
#endif
                  else
                        dWorldStep((dWorldID)world->physics.ode_world, world->physics.ode_step);

                  // clear the JointGroup now that we're done with it
                  dJointGroupEmpty((dJointGroupID)world->physics.ode_contactgroup);
            }
            simulationtime = (Sys_DoubleTime() - tdelta2)*10000;

            // copy physics properties from physics engine to entities and do some stats
            if (prog)
            {
                  for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
                        if (!prog->edicts[i].priv.required->free)
                              World_Physics_Frame_BodyToEntity(world, ed);

                  // print stats
                  if (physics_ode_printstats.integer)
                  {
                        dBodyID body;

                        world->physics.ode_numobjects = 0;
                        world->physics.ode_activeovjects = 0;
                        for (i = 1, ed = prog->edicts + i;i < prog->num_edicts;i++, ed++)
                        {
                              if (prog->edicts[i].priv.required->free)
                                    continue;
                              body = (dBodyID)prog->edicts[i].priv.server->ode_body;
                              if (!body)
                                    continue;
                              world->physics.ode_numobjects++;
                              if (dBodyIsEnabled(body))
                                    world->physics.ode_activeovjects++;
                        }
                        Con_Printf("ODE Stats(%s): %3.01f (%3.01f collision) %3.01f total : %i objects %i active %i disabled\n", prog->name, simulationtime, collisiontime, (Sys_DoubleTime() - tdelta)*10000, world->physics.ode_numobjects, world->physics.ode_activeovjects, (world->physics.ode_numobjects - world->physics.ode_activeovjects));
                  }
            }
      }
#endif
}

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