First checkin of core ODE functionality. See OdePhysicsController.cpp for a todo list.

source/Makefile

@@ -38,7 +38,7 @@ endif
 
 include nan_definitions.mk
 
-DIRS = creator blender kernel sumo gameengine
+DIRS = ode creator blender kernel sumo gameengine
 
 ifeq ($(OS),windows)
     DIRS += icons
@@ -114,6 +114,11 @@ PYPLAYERLIB ?= $(PYLIB)
     GRPLIB += $(OCGDIR)/blender/bpython/$(DEBUG_DIR)libbpython.a
     GRPLIB += $(NAN_PYTHON)/frozen/libfrozen.a
 
+# nlin: the reason that some libraries appear more than once below is
+# to handle circular dependencies in linking among libraries... some
+# linkers (e.g. under Linux) need libs to be specified multiple times
+# to properly resolve circular dependencies. ugly, but it works...
+# the repeat entries could probably be trimmed down.
     COMLIB = $(OCGDIR)/blender/blenkernel/$(DEBUG_DIR)libblenkernel.a
     COMLIB += $(OCGDIR)/blender/blenloader/$(DEBUG_DIR)libblenloader.a
     COMLIB += $(OCGDIR)/blender/blenpluginapi/$(DEBUG_DIR)libblenpluginapi.a
@@ -124,6 +129,15 @@ PYPLAYERLIB ?= $(PYLIB)
     COMLIB += $(OCGDIR)/gameengine/bloutines/$(DEBUG_DIR)libbloutines.a
     COMLIB += $(OCGDIR)/gameengine/blconverter/$(DEBUG_DIR)libblconverter.a
     COMLIB += $(OCGDIR)/gameengine/blphys/common/$(DEBUG_DIR)libcommon.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/blode/$(DEBUG_DIR)libblode.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/sumo/$(DEBUG_DIR)libsumo.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/dummy/$(DEBUG_DIR)libdummy.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/common/$(DEBUG_DIR)libcommon.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/sumo/$(DEBUG_DIR)libsumo.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/dummy/$(DEBUG_DIR)libdummy.a
+    COMLIB += $(OCGDIR)/gameengine/ketsji/$(DEBUG_DIR)libketsji.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/common/$(DEBUG_DIR)libcommon.a
+    COMLIB += $(OCGDIR)/gameengine/blphys/blode/$(DEBUG_DIR)libblode.a
     COMLIB += $(OCGDIR)/gameengine/blphys/sumo/$(DEBUG_DIR)libsumo.a
     COMLIB += $(OCGDIR)/gameengine/blphys/dummy/$(DEBUG_DIR)libdummy.a
     COMLIB += $(OCGDIR)/gameengine/blphys/common/$(DEBUG_DIR)libcommon.a

source/blender/src/buttons.c

@@ -559,9 +559,9 @@ enum {
 
 static char *physics_pup(void)
 {
-	/* the number needs to match defines in game.h */
+  /* the number needs to match defines in KX_PhysicsBlenderSceneConverter.cpp */
-	return "Physics %t|Sumo %x0|"
+  return "Physics %t|None %x1|Sumo %x2|"
-		"ODE %x4 |None %x7|";
+         "ODE %x3 |Dynamo %x4|";
 }
 
 

source/gameengine/Converter/BL_BlenderDataConversion.cpp

@@ -139,6 +139,7 @@
 
 #include "SG_Node.h"
 
+// defines USE_ODE to choose physics engine
 #include "KX_ConvertPhysicsObject.h"
 
 

source/gameengine/Converter/KX_BlenderSceneConverter.cpp

@@ -43,12 +43,13 @@
 
 #include "DummyPhysicsEnvironment.h"
 
+//to decide to use sumo/ode or dummy physics - defines USE_ODE
+#include "KX_ConvertPhysicsObject.h"
+
 #ifdef USE_ODE
 #include "OdePhysicsEnvironment.h"
 #endif //USE_ODE
 
-//to decide to use sumo/ode or dummy physics
-#include "KX_ConvertPhysicsObject.h"
 #ifdef USE_SUMO_SOLID
 #include "SumoPhysicsEnvironment.h"
 #endif
@@ -181,24 +182,29 @@ void KX_BlenderSceneConverter::ConvertScene(const STR_String& scenename,
 			switch (blenderscene->world->pad1)
 			{
 				
-			case 4:
+			case 1:
-				{
-					physics_engine = UseODE;
-					break;
-				}
-			case 5:
-				{
-					physics_engine = UseDynamo;
-					break;
-				}
-			case 7:
 				{
 					physics_engine = UseNone;
 					break;
 				};
-			default:
+			case 2:
 				{
 					physics_engine = UseSumo;
+					break;
+				}
+			case 3:
+				{
+					physics_engine = UseODE;
+					break;
+				}
+			case 4:
+				{
+					physics_engine = UseDynamo;
+					break;
+				}
+			default:
+				{
+					physics_engine = UseODE;
 				}
 			}
 		}

source/gameengine/Converter/Makefile

@@ -57,4 +57,4 @@ CPPFLAGS += -I../../kernel/gen_system
 CPPFLAGS += -I../Rasterizer/RAS_OpenGLRasterizer
 CPPFLAGS += -I../Network -I../Ketsji/KXNetwork
 CPPFLAGS += -I../Physics/common -I../Physics/Dummy
-
+CPPFLAGS += -I../Physics/BlOde

source/gameengine/Ketsji/KX_ConvertPhysicsObject.h

@@ -38,8 +38,7 @@
 //#define USE_SUMO_SOLID
 //solid is not available yet
 
-//#define USE_ODE
+#define USE_ODE
-//ode is not available yet
 
 
 class RAS_MeshObject;

source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp

@@ -31,6 +31,7 @@
  */
 #pragma warning (disable : 4786)
 
+// defines USE_ODE to choose physics engine
 #include "KX_ConvertPhysicsObject.h"
 #include "KX_GameObject.h"
 #include "RAS_MeshObject.h"
@@ -50,11 +51,11 @@
 #ifdef USE_ODE
 
 #include "KX_OdePhysicsController.h"
-#include "odephysicsenvironment.h"
+#include "OdePhysicsEnvironment.h"
 #endif //USE_ODE
 
 
-// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObjects.h
+// USE_SUMO_SOLID is defined in headerfile KX_ConvertPhysicsObject.h
 #ifdef USE_SUMO_SOLID
 
 
@@ -235,7 +236,7 @@ void	KX_ConvertSumoObject(	class	KX_GameObject* gameobj,
 	// physics object get updated here !
 
 	
-	// lazy evaluation because Havok doesn't support scaling !gameobj->UpdateTransform();
+	// lazy evaluation because we might not support scaling !gameobj->UpdateTransform();
 
 	if (objprop->m_in_active_layer && sumoObj)
 	{

source/gameengine/Ketsji/Makefile

@@ -49,6 +49,7 @@ CPPFLAGS += -I../Network -IKXNetwork
 CPPFLAGS += -I../Physics/common
 CPPFLAGS += -I../Physics/Dummy
 CPPFLAGS += -I../Physics/Sumo
+CPPFLAGS += -I../Physics/BlOde
 CPPFLAGS += -I.
 
 ###########################

source/gameengine/Physics/Makefile

@@ -35,6 +35,6 @@ include nan_definitions.mk
 
 SOURCEDIR = source/gameengine/Physics
 DIR = $(OCGDIR)/gameengine/blphys
-DIRS = common Sumo Dummy
+DIRS = common Sumo Dummy BlOde
 
 include nan_subdirs.mk

source/nan_definitions.mk

@@ -57,6 +57,7 @@ all debug::
     export NAN_SOLID ?= $(SRCHOME)/sumo/SOLID-3.0
     export NAN_SUMO ?= $(SRCHOME)/sumo
     export NAN_FUZZICS ?= $(SRCHOME)/sumo/Fuzzics
+    export NAN_ODE ?= $(SRCHOME)/ode
     export NAN_OPENSSL ?= $(LCGDIR)/openssl
     export NAN_BLENKEY ?= $(LCGDIR)/blenkey
     export NAN_DECIMATION ?= $(LCGDIR)/decimation

source/nan_link.mk

@@ -91,6 +91,7 @@ ifeq ($(OS),linux)
     COMMENT = "MESA 3.1"
     LLIBS = -L$(NAN_MESA)/lib -L/usr/X11R6/lib -lXmu -lXext -lX11 -lXi
     LLIBS += -lutil -lc -lm -ldl -lpthread
+    LLIBS += -L$(NAN_ODE)/lib -lode
     LOPTS = -export-dynamic
     DADD = -lGL -lGLU
     SADD = $(NAN_MESA)/lib/libGL.a $(NAN_MESA)/lib/libGLU.a