trying to fix my screwup, please hold on

1 files changed, 0 insertions, 218 deletions

diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp
deleted file mode 100644
index 26b77b0..0000000
--- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp
+++ /dev/null
@@ -1,218 +0,0 @@
-
-/* ************************************************************************ */
-/* 
-   grouped and transformed geometry functions 
-   author: Tim Schmidt tisch@uni-paderborn.de
-*/
-
-
-#include <ode/common.h>
-#include <ode/geom.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include <ode/memory.h>
-#include <ode/misc.h>
-#include <ode/objects.h>
-#include <ode/matrix.h>
-#include <ode/GeomTransformGroup.h>
-#include "objects.h"
-#include "array.h"
-#include "geom_internal.h"
-
-// given a pointer `p' to a dContactGeom, return the dContactGeom at
-// p + skip bytes.
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-
-
-// ############################################################################
-
-int dGeomTransformGroupClass = -1;
-// ############################################################################
-
-struct dxGeomTransformGroup {
-  dArray<dxGeom*> parts;        // all the geoms that make up the group
-  dVector3 relativePosition;
-  dMatrix3 relativeRotation;
-};
-// ############################################################################
-
-void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->relativePosition[0] = x;
-  transformGroup->relativePosition[1] = y;
-  transformGroup->relativePosition[2] = z;
-}
-// ############################################################################
-
-void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3));
-}
-// ############################################################################
-
-const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->relativePosition;
-}
-// ############################################################################
-
-const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->relativeRotation;
-}
-// ############################################################################
-
-static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg);
-  dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition);
-  part->pos[0] += tg->pos[0];
-  part->pos[1] += tg->pos[1];
-  part->pos[2] += tg->pos[2];
-  dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation);
-}
-// ############################################################################
-
-int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags,
-               dContactGeom *contact, int skip)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1);
-  if (transformGroup->parts.size() == 0)
-  {
-    return 0;
-  }
-  int numleft = flags & NUMC_MASK;
-  if (numleft == 0) numleft = 1;
-  flags &= ~NUMC_MASK;
-  int num=0, i=0;
-  while (i < transformGroup->parts.size() && numleft > 0) 
-  {
-    dUASSERT (transformGroup->parts[i]->spaceid==0,
-              "GeomTransformGroup encapsulated object must not be in a space");
-    dUASSERT (transformGroup->parts[i]->body==0,
-              "GeomTransformGroup encapsulated object must not be attached to a body");
-    if (!o1->space_aabb) 
-    {
-      computeFinalTransformation (o1, transformGroup->parts[i]);
-    }
-    dxBody *bodyBackup = transformGroup->parts[i]->body;
-    transformGroup->parts[i]->body = o1->body;
-    int n = dCollide (transformGroup->parts[i],const_cast<dxGeom*>(o2),
-                      flags | numleft,contact,skip);
-    transformGroup->parts[i]->body = bodyBackup;
-    contact = CONTACT (contact,skip*n);
-    numleft -= n;
-    num += n;
-    i++;
-  }
-  return num;
-}
-// ############################################################################
-
-static dColliderFn * dGeomTransformGroupColliderFn (int num)
-{
-  return (dColliderFn *) &dCollideTransformGroup;
-}
-// ############################################################################
-
-static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom);
-  aabb[0] = dInfinity;
-  aabb[1] = -dInfinity;
-  aabb[2] = dInfinity;
-  aabb[3] = -dInfinity;
-  aabb[4] = dInfinity;
-  aabb[5] = -dInfinity;
-  int i,j;
-  for (i=0; i < transformGroup->parts.size(); i++)
-  {
-    computeFinalTransformation (geom, transformGroup->parts[i]);
-    dReal aabb2[6];
-    transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2);
-    for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j];
-    for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j];
-  }
-}
-// ############################################################################
-
-static void dGeomTransformGroupDtor (dxGeom *geom)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom);
-  transformGroup->parts.~dArray();
-}
-// ############################################################################
-
-dxGeom *dCreateGeomTransformGroup (dSpaceID space)
-{
-  if (dGeomTransformGroupClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxGeomTransformGroup);
-    c.collider = &dGeomTransformGroupColliderFn;
-    c.aabb = &dGeomTransformGroupAABB;
-    c.aabb_test = 0;
-    c.dtor = dGeomTransformGroupDtor;
-    dGeomTransformGroupClass = dCreateGeomClass (&c);
-  }
-  dxGeom *g = dCreateGeom (dGeomTransformGroupClass);
-  if (space)
-  {
-    dSpaceAdd (space,g);
-  }
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->parts.constructor();
-  dSetZero (transformGroup->relativePosition,4);
-  dRSetIdentity (transformGroup->relativeRotation);
-  return g;
-}
-// ############################################################################
-
-void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->parts.push (obj);
-}
-// ############################################################################
-
-void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  for (int i=0; i < transformGroup->parts.size(); i++) {
-    if (transformGroup->parts[i] == obj) {
-      transformGroup->parts.remove (i);
-      return;
-    }
-  }
-}
-// ############################################################################
-
-dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  dAASSERT (i >= 0 && i < transformGroup->parts.size());
-  return transformGroup->parts[i];
-}
-// ############################################################################
-
-int dGeomTransformGroupGetNumGeoms (dxGeom *g)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->parts.size();
-}