ODEItem v0.10

#81 Ok, thanks Pascal, I'll give it a whirl tonight, the missus wants to go shopping, and we all know what females are like shopping....

#82 I cant get this workingwith newest ODE. Problem of not being able to use dxGeom dGeomID as an object ID.What chnages did u make to ODE?

#83 Hi Westy,

I haven't tried it with the latest ODE, but
there were only a couple changes to the ODE codebase,
mostly making sure dxGeomID is used instead of dxGeom *
and commenting out a couple of funcs.

doing a diff gave me the following:

diff include/ode/common.h ode_orig/include/ode/common.h
177,181c177,178
< typedef struct dxBody *dBodyID;
< 
< //typedef struct dxGeom *dGeomID;
< typedef unsigned int dGeomID;
< 
---
> typedef struct dxBody *dBodyID;
> typedef struct dxGeom *dGeomID;
Only in include/ode/: config.h


diff ode/src/collision_kernel.cpp ode_orig/ode/src/collision_kernel.cpp
256,258c256,257
< 
< // ODE_CHANGE
< /*dxGeom *dGeomGetBodyNext (dxGeom *geom)
---
> 
> dxGeom *dGeomGetBodyNext (dxGeom *geom)
261c260
< }*/
---
> }

diff ode/src/collision_space.cpp ode_orig/ode/src/collision_space.cpp
41,44c41,42
< 
< 
< // ODE_CHANGE
< /*void dGeomMoved (dxGeom *geom)
---
> 
> void dGeomMoved (dxGeom *geom)
68c66
< */
---
> 
diff ode/src/geom.cpp ode_orig/ode/src/geom.cpp
845,846d844
< 
< 
848,849c846,847
< // ODE_CHANGE
< /*void dGeomSetBody (dxGeom *g, dBodyID b)
---
> 
> void dGeomSetBody (dxGeom *g, dBodyID b)
868c866
< }*/
---
> }
2166c2164
< {								
---
> {
2217c2215
< /*
---
> 
2227d2224
< */


diff ode/src/ode.cpp ode_orig/ode/src/ode.cpp
37,43d36
< 
< 
< // ODE_CHANGE
< void dGeomSetBody (dGeomID geom, dBodyID body) {
< 	if(body)
< 		body->geom = geom;
< }
332,333d324
< 
< 
375,376c366,367
<   dGeomID next_geom = 0;
<   for (dGeomID geom = b->geom; geom; geom = next_geom) {
---
>   dxGeom *next_geom = 0;
>   for (dxGeom *geom = b->geom; geom; geom = next_geom) {
420c411
<   for (dGeomID geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
---
>   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
438c429
<   for (dGeomID geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
---
>   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
454c445
<   for (dGeomID geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
---
>   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))

diff ode/src/step.cpp ode_orig/ode/src/step.cpp
293c293
<   for (dGeomID geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
---
>   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))

diff ode/src/stepfast.cpp ode_orig/ode/src/stepfast.cpp
317c312
< 	for (dGeomID geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
---
> 	for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom))

-Pascal

#84 Hi Pascal,

Help- I have made the above changes to the latest ODE but still get lots of errors of the type "cannot convert parameter 1 from dxGeom * to dGeomID"

- Emmanuel

#85 Hi Pascal,
Just got it to compile, forgot to strip out the collision stuff already in ODE

-Emmanuel

#86 Do you have a functioning download link?

#87 Link should be working again. Hosting snafu.

#88 I'm having problems with ODEItems going through static shapes, even at relatively "low" velocities. Anyone else having this problem?

#89 bit old, but im getting linker errors:

Linking...
ODEItem.obj : error LNK2019: unresolved external symbol _dMassSetZero referenced in function "public: __thiscall dMass::dMass(void)" (??0dMass@@QAE@XZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodySetAngularVel referenced in function "public: virtual void __thiscall ODEItem::setTransform(class MatrixF const &)" (?setTransform@ODEItem@@UAEXABVMatrixF@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodySetLinearVel referenced in function "public: virtual void __thiscall ODEItem::setTransform(class MatrixF const &)" (?setTransform@ODEItem@@UAEXABVMatrixF@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodySetRotation referenced in function "public: virtual void __thiscall ODEItem::setTransform(class MatrixF const &)" (?setTransform@ODEItem@@UAEXABVMatrixF@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodySetPosition referenced in function "public: virtual void __thiscall ODEItem::setTransform(class MatrixF const &)" (?setTransform@ODEItem@@UAEXABVMatrixF@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyEnable referenced in function "public: virtual void __thiscall ODEItem::setTransform(class MatrixF const &)" (?setTransform@ODEItem@@UAEXABVMatrixF@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyDisable referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodySetMass referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dGeomSetBody referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyCreate referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dMassAdjust referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dMassSetBox referenced in function "public: virtual bool __thiscall ODEItem::onAdd(void)" (?onAdd@ODEItem@@UAE_NXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyDestroy referenced in function "public: virtual void __thiscall ODEItem::onRemove(void)" (?onRemove@ODEItem@@UAEXXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyGetLinearVel referenced in function "public: virtual unsigned int __thiscall ODEItem::packUpdate(class NetConnection *,unsigned int,class BitStream *)" (?packUpdate@ODEItem@@UAEIPAVNetConnection@@IPAVBitStream@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyIsEnabled referenced in function "public: virtual unsigned int __thiscall ODEItem::packUpdate(class NetConnection *,unsigned int,class BitStream *)" (?packUpdate@ODEItem@@UAEIPAVNetConnection@@IPAVBitStream@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyGetAngularVel referenced in function "public: virtual void __thiscall ODEItem::writePacketData(class GameConnection *,class BitStream *)" (?writePacketData@ODEItem@@UAEXPAVGameConnection@@PAVBitStream@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyGetQuaternion referenced in function "public: void __thiscall ODEItem::updateMove(void)" (?updateMove@ODEItem@@QAEXXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyGetPosition referenced in function "public: void __thiscall ODEItem::updateMove(void)" (?updateMove@ODEItem@@QAEXXZ)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyAddForce referenced in function "public: void __thiscall ODEItem::resolveShapeBaseCollision(class ShapeBase *,struct Collision *,class Point3F)" (?resolveShapeBaseCollision@ODEItem@@QAEXPAVShapeBase@@PAUCollision@@VPoint3F@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dWorldImpulseToForce referenced in function "public: void __thiscall ODEItem::resolveShapeBaseCollision(class ShapeBase *,struct Collision *,class Point3F)" (?resolveShapeBaseCollision@ODEItem@@QAEXPAVShapeBase@@PAUCollision@@VPoint3F@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dJointAttach referenced in function "private: void __thiscall ODEItem::createContacts(class Convex *)" (?createContacts@ODEItem@@AAEXPAVConvex@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dJointCreateContact referenced in function "private: void __thiscall ODEItem::createContacts(class Convex *)" (?createContacts@ODEItem@@AAEXPAVConvex@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dAreConnected referenced in function "private: void __thiscall ODEItem::createContacts(class Convex *)" (?createContacts@ODEItem@@AAEXPAVConvex@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dInfinityValue referenced in function "private: void __thiscall ODEItem::createContacts(class Convex *)" (?createContacts@ODEItem@@AAEXPAVConvex@@@Z)
ODEItem.obj : error LNK2019: unresolved external symbol _dBodyGetRotation referenced in function "public: virtual void __thiscall ODEItem::processTick(struct Move const *)" (?processTick@ODEItem@@UAEXPBUMove@@@Z)
ODEWorld.obj : error LNK2019: unresolved external symbol _dJointGroupEmpty referenced in function "bool __cdecl ODEStep(void)" (?ODEStep@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldStep referenced in function "bool __cdecl ODEStep(void)" (?ODEStep@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldSetGravity referenced in function "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldSetCFM referenced in function "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldSetERP referenced in function "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dJointGroupCreate referenced in function "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldCreate referenced in function "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dWorldDestroy referenced in function "bool __cdecl ODEDestroyWorld(void)" (?ODEDestroyWorld@@YA_NXZ)
ODEWorld.obj : error LNK2019: unresolved external symbol _dJointGroupDestroy referenced in function "bool __cdecl ODEDestroyWorld(void)" (?ODEDestroyWorld@@YA_NXZ)
../example/torqueDemo.exe : fatal error LNK1120: 34 unresolved externals
Build log was saved at "file://c:\Torque1_3\torque\engine\out.VC6.RELEASE\BuildLog.htm"
Torque Demo - 35 error(s), 0 warning(s)

any ideas? i cant figure it out

#90 @Jeff: Did you link in the ODE (ODE.lib I think) library? That should cure all those unresolved external symbols.

#91 i got it linked properly(turns out the slashes were backwards :o )
but now im getting the stupid "cant find ode/ode.h

i have the ode folder created in the include, but nothing is working

#92 try renaming the include to ode and the change the path to "../lib/ode"

#93 that doesnt help :(

#94 I too am having a linking problem here is what i get any advice?

Linking...
gameProcess.obj : error LNK2001: unresolved external symbol "bool __cdecl ODEStep(void)" (?ODEStep@@YA_NXZ)
main.obj : error LNK2001: unresolved external symbol "bool __cdecl ODECreateWorld(void)" (?ODECreateWorld@@YA_NXZ)
main.obj : error LNK2001: unresolved external symbol "bool __cdecl ODEDestroyWorld(void)" (?ODEDestroyWorld@@YA_NXZ)
player.obj : error LNK2001: unresolved external symbol "public: void __thiscall ODEItem::resolveShapeBaseCollision(class ShapeBase *,struct Collision *,class Point3F)" (?resolveShapeBaseCollision@ODEItem@@QAEXPAVShapeBase@@PAUCollision@@VPoint3F@@@Z
)
../example/torqueDemo_DEBUG.exe : fatal error LNK1120: 4 unresolved externals
Error executing link.exe

Got it figured out......Man this fun, thanks for bringing this to Torque

#95 How do i set object properties, specifically the mass for each odeitem?

#96 This resource looks great! However, I'm getting some compiling errors...

In the file ODEworld.h, it cannot find this file:
#include

And in the fil ode.h it cannot find this file:
#include


Anyone have any ideas? I'm using XCode 1.5 on OSX. I'm obviously somewhat new to this, as to get any resource I download to work under XCode I have to adjust the files so they are looking in the same directories that the files are located in. (Meaning, if the code says #include and I have everything in the right directories, I have to change that code to read #include or else it cannot find that file.) I wouldn't be half surprised if my doing this might be the issue

#97 is deprecated in favor of stdlib.h. Make sure that stdlib.h is there, and just remove the malloc.

Gary (-;

#98 Thanks Gary! That explains that half of the problem! =)


Does anyone know about isc.h? I tried commenting out and got one error about a multiplier, so it dosen't sound like that one has been depriciated.. is this something I need to add in?

#99 Hey I get 2 compiling errors, any idea on what could be wrong?

engine\game\player.cc(2620) : error C2660: 'resolveShapeBaseCollision' : function does not take 3 parameters

LINE 2620: ODEObj-> resolveShapeBaseCollision(this, collision, ODEObj-> getVelocity() - mVelocity);


and


engine\game\main.cc(407) : error C2660: 'ODECreateWorld' : function does not take 0 parameters

LINE407: ODECreateWorld();

_____________________________________________
please help lol :o

#100 Problem:
my player can't run or walk on the ODEItem s :(

Solution:
this is because ODEItem specifies ItemObjectType in it's type mask, so when the player tries to find a surface to run or jump on, it checks for the special case of items, and doesn't do what you'd expect.

I fixed this by checking for the special case of ODEObjectType before ItemObject type in findContacts like so.

in player.cc in the findContacts function

.....
      else if (objectMask & CorpseObjectType) {
         // If we've overlapped the worldbounding boxes, then that's it...
         if (getWorldBox().isOverlapped(pConvex->getObject()->getWorldBox()))  {
            ShapeBase* col = static_cast<ShapeBase*>(pConvex->getObject());
            queueCollision(col,getVelocity() - col->getVelocity());
         }
      }
//  new stuff----------------
// CLINT we need to check for ODE objects before  
//        items and handle them like a regular surface
	  else if(objectMask  & ODEObjectType){
			ODEItem* odeItem = dynamic_cast<ODEItem*>(pConvex->getObject());
			if(odeItem)
			{
				Box3F convexBox = pConvex->getBoundingBox();
				if (plistBox.isOverlapped(convexBox) && serverParent == NULL)
					pConvex->getPolyList(&polyList);
			}
	  }
//CLINT end new stuff----------------
      else if (objectMask & ItemObjectType) {
....

then at the top of player.cc I also added ODEObjectType to the collision mask for movement

static U32 sCollisionMoveMask = (TerrainObjectType      | InteriorObjectType   |
                                 WaterObjectType        | PlayerObjectType     |
                                 StaticShapeObjectType  | VehicleObjectType    |
                                 PhysicalZoneObjectType | StaticTSObjectType   |
								 ODEObjectType);  //CLINT we also collide with ODE physics objects now