one more for the gipper

14 files changed, 972 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin b/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin
new file mode 100644
index 0000000..c06768c
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt b/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt
new file mode 100644
index 0000000..7c1f8a4
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt
@@ -0,0 +1,95 @@
+-----------------------------
+ODE - Mac CFM Carbon Port
+(contact Frank Condello <pox@planetquake.com> with questions regarding this port)
+
+Although ODE contains a MacOSX makefile, and some individuals have implemented ODE in
+Cocoa, I opted to use (and prefer) CodeWarrior. This also opens up ODE to MacOS8 & 9
+users, without scarfing functionality in MacOSX (same binaries run on both platforms).
+
+The 'ode_CW7.mcp' project contains release and debug targets to create static ODE and
+DrawStuff libraries.
+
+'examples_CW7.mcp' contains targets for the entire ODE test suite, plus a couple other
+test programs which were posted to the ODE mailing list.
+
+
+-----------------------------
+Compiling Notes:
+
+You'll need to extract the CodeWarrior projects from the 'CW7_projects.sit.bin' archive
+(They're nearly a meg uncompressed so this was done to be bandwith friendly on the CVS).
+
+Projects require CodeWarrior 7 or above (recreating them with earlier versions shouldn't
+be too difficult). The projects use relative paths and are meant to be compiled from
+'contrib/Mac_CFMCarbon/'. Don't move them!
+
+All the libraries build into the 'lib/' directory, all test applications build into
+'contrib/Mac_CFMCarbon/mac_testbin/' (and must be run from that directory since the
+texture path is hard-coded).
+
+You'll need to compile the release ODE library, and the DrawStuff library before
+compiling the examples.
+
+The ODE 'configurator' has not been ported, but a Mac-friendly 'config.h' header has been
+manually hacked together (all PPC Macs should be fine with this header). Single or double
+precision can be defined in the 'CommonPrefix.h' header found in
+'contrib/Mac_CFMCarbon/mac_source/'.
+
+'contrib/Mac_CFMCarbon/mac_source/' also contains any mac specific additions to the main source.
+The directory structure here matches the main source tree, and I would recommend that this
+format is maintained when making additions, since the access paths are touchy (more below...)
+
+Some issues were encountered with duplicate header names. CodeWarrior tends to be
+unforgiving about this sort of thing but fudging with the access paths eventually
+cleared up the problem. If ODE fails to compile, make sure the <ode/objects.h> and
+"objects.h" or <timer.h> and <Timer.h> are actually pointing to the correct header.
+
+You'll need Apple's OpenGL SDK (with GLUT) in your compiler path to build DrawStuff. I've
+added redirection headers in 'contrib/Mac_CFMCarbon/mac_source/include/GL/' to properly
+link with the Apple headers (since the projects are set to follow DOS paths).
+
+The examples link against a crapload of static libraries, but my initial builds using
+ODE, MSL, GLUT, and DrawStuff shared/merged DLL's proved unstable (mostly problems with
+SIOUX spawning multiple sessions, and crashes in Classic). Static libs just worked better
+in the end, but the test apps are a little bloated as a result, and need to be re-linked
+whenever a change to a library is made.
+
+IMPORTANT: You must use the same 'CommonPrefix.h' settings for libraries, and test apps
+(i.e. double or single precision).
+
+
+-----------------------------
+Running the test apps:
+
+The test apps will show the SIOUX CLI prompt when run. Just hit OK to ignore it, or add any
+DrawStuff arguments. You'll want to log output to a file for 'test_ode'.
+
+There are two extra test programs in the 'mac_source' directory. Both were posted to the ODE
+mailing list by OSX users. 'test_stability1' visualizes some internal issues with ODE, and
+'test_stacktest' is a standalone GLUT program (doesn't use DrawStuff) that can be useful
+to stress test the library, and give you an idea of just how much stack memory you're
+going to need for large systems.
+
+ISSUES:
+
+The carbon DrawStuff lib uses GLUT to make life easy, but GLUT isn't exactly bug-free
+or stable on the Mac... Try moving the mouse around if a simulation is running slowly
+on OS9 (it's not ODE's fault, but rather a poor carbon GLUT implementation - seems GLUT stalls
+when it's not getting system events  - I haven't seen this problem on OSX).
+
+The 3D view may not update if typing in the SIOUX console window.
+
+You cannot pass startup args to GLUT due to the way the DrawStuff library initializes.
+
+'Write Frames' doesn't actually do anything at the moment.
+
+The 'test_joints' app seems broken (though I don't know what the intended effect should be)
+
+
+-----------------------------
+TODO:
+
+- Re-add shared library targets (if stability issues are resolved).
+- Implement 'Write Frames' in DrawStuff.
+- Write a Carbon compatible configurator
+- Create CodeWarrior 8 projects (once I scrounge up enough dough for the update).
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h
new file mode 100644
index 0000000..5948b3e
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h
@@ -0,0 +1,6 @@
+#define TARGET_API_MAC_CARBON 1
+#define finite isfinite
+#define dNODEBUG 1
+
+// Comment out for single precision
+#define PRECISION_DOUBLE 1
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h
new file mode 100644
index 0000000..6122528
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h
@@ -0,0 +1,6 @@
+#ifndef prefix_h
+#define prefix_h
+
+#include "CommonPrefix.h"
+
+#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h
new file mode 100644
index 0000000..0e328a9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h
@@ -0,0 +1,10 @@
+#ifndef prefix_h
+#define prefix_h
+
+#include "CommonPrefix.h"
+
+#ifdef dNODEBUG
+#undef dNODEBUG
+#endif
+
+#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h
new file mode 100644
index 0000000..1dedfc9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h
@@ -0,0 +1,13 @@
+#ifndef prefix_h
+#define prefix_h
+
+#include "CommonPrefix.h"
+
+// Hack to automatically call SIOUX's CLI interface for the test apps
+#include <console.h>
+#include <SIOUX.h>
+int fmain (int argc, char **argv);
+int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(argc, argv); }
+#define main(argc, argv) fmain(argc, argv)
+
+#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h
new file mode 100644
index 0000000..f8f5022
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h
@@ -0,0 +1,13 @@
+#ifndef prefix_h
+#define prefix_h
+
+#include "CommonPrefix.h"
+
+// Hack to automatically call SIOUX's CLI interface for the test apps
+#include <console.h>
+#include <SIOUX.h>
+int fmain ();
+int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(); }
+#define main() fmain()
+
+#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h
new file mode 100644
index 0000000..6122528
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h
@@ -0,0 +1,6 @@
+#ifndef prefix_h
+#define prefix_h
+
+#include "CommonPrefix.h"
+
+#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp
new file mode 100644
index 0000000..eb0b144
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp
@@ -0,0 +1,281 @@
+/*************************************************************************
+ *                                                                       *
+ * DrawStuff Library, Copyright (C) 2001 Russell L. Smith.               *
+ *   Email: russ@q12.org   Web: www.q12.org                              *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of the GNU Lesser General Public            *
+ * License as published by the Free Software Foundation; either          *
+ * version 2.1 of the License, or (at your option) any later version.    *
+ *                                                                       *
+ * This library 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      *
+ * Lesser General Public License for more details.                       *
+ *                                                                       *
+ * You should have received a copy of the GNU Lesser General Public      *
+ * License along with this library (see the file LICENSE.TXT); if not,   *
+ * write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ * Suite 330, Boston, MA 02111-1307 USA.                                 *
+ *                                                                       *
+ *************************************************************************/
+
+// main window and event handling for Mac CFM Carbon
+
+#include <ode/config.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <glut.h>
+#include <SIOUX.h>
+
+#include <MacTypes.h>
+#include <Timer.h>
+
+#include <drawstuff/drawstuff.h>
+#include <drawstuff/version.h>
+#include "internal.h"
+
+
+//***************************************************************************
+// error handling for unix (works just fine with SIOUX)
+
+static void printMessage (char *msg1, char *msg2, va_list ap)
+{
+  fflush (stderr);
+  fflush (stdout);
+  fprintf (stderr,"\n%s: ",msg1);
+  vfprintf (stderr,msg2,ap);
+  fprintf (stderr,"\n");
+  fflush (stderr);
+}
+
+extern "C" void dsError (char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  printMessage ("Error",msg,ap);
+  exit (1);
+}
+
+
+extern "C" void dsDebug (char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  printMessage ("INTERNAL ERROR",msg,ap);
+  // *((char *)0) = 0;   ... commit SEGVicide ?
+  abort();
+}
+
+extern "C" void dsPrint (char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  vprintf (msg,ap);
+}
+
+//***************************************************************************
+// openGL window
+
+// window and openGL
+static int width=0,height=0;            // window size
+static int last_key_pressed=0;          // last key pressed in the window
+static int pause=0;                                     // 1 if in `pause' mode
+static int singlestep=0;                        // 1 if single step key pressed
+static int writeframes=0;                       // 1 if frame files to be written
+static dsFunctions *gfn;
+static int frame = 1;
+
+float getTime (void)
+{
+        UnsignedWide ms;
+        
+        Microseconds(&ms);
+        return ms.lo / 1000000.0;
+}
+
+
+static void captureFrame (int num)
+{
+// TODO
+}
+
+static void reshape(int w, int h)
+{
+        width = w;
+        height = h;
+}
+
+static void draw(void)
+{
+        dsDrawFrame (width,height,gfn,pause && !singlestep);
+        singlestep = 0;
+        glutSwapBuffers();
+        
+        if (pause==0 && writeframes) {
+      captureFrame (frame);
+      frame++;
+    }
+}
+
+static void idle(void)
+{
+        static float lasttime=0;
+        float t;
+        
+        // Try to maintain a reasonable rate (good enough for testing anyway)
+        t = getTime();
+        if (lasttime < t) {
+                lasttime = t+0.005;
+                draw();
+        }
+}
+
+static void key(unsigned char key, int x, int y)
+{
+        if (!glutGetModifiers()) {
+                
+                if (key >= ' ' && key <= 126 && gfn->command) gfn->command (key);
+        
+        // GLUT_ACTIVE_CTRL doesn't seem to be working, so we use Alt
+        } else if (glutGetModifiers()&GLUT_ACTIVE_ALT) {
+                
+                switch (key) {
+                case 't': case 'T':
+                        dsSetTextures (dsGetTextures() ^ 1);
+                        break;
+                case 's': case 'S':
+                        dsSetShadows (dsGetShadows() ^ 1);
+                        break;
+                case 'p': case 'P':
+                        pause ^= 1;
+                        singlestep = 0;
+                        break;
+                case 'o': case 'O':
+                        if (pause) singlestep = 1;
+                        break;
+                case 'v': case 'V': {
+                        float xyz[3],hpr[3];
+                        dsGetViewpoint (xyz,hpr);
+                        printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n",
+                                        xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]);
+                        break;
+              }
+            // No case 'X' - Quit works through the Mac system menu, or cmd-q
+                case 'w': case 'W':
+                        writeframes ^= 1;
+                        if (writeframes) printf ("Write frames not done yet!\n");// TODO
+                                break;
+                }
+        }
+                
+    last_key_pressed = key;
+}
+
+static int mx=0,my=0;   // mouse position
+static int mode = 0;    // mouse button bits
+  
+static void MouseDown(int button, int state, int x, int y)
+{
+        if(button == GLUT_LEFT_BUTTON)
+        {
+                if(state == GLUT_DOWN)
+                        mode |= 1;
+                else if(state == GLUT_UP)
+                        mode &= (~1);
+        }
+        else if (button == GLUT_MIDDLE_BUTTON)
+        {
+                if(state == GLUT_DOWN)
+                        mode |= 3;
+                else if(state == GLUT_UP)
+                        mode &= (~3);
+        }
+        else if (button == GLUT_RIGHT_BUTTON)
+        {
+                if(state == GLUT_DOWN)
+                        mode |= 2;
+                else if(state == GLUT_UP)
+                        mode &= (~2);
+        }
+        
+        mx = x;
+        my = y;
+}
+
+static void MouseMove(int x, int y)
+{
+        dsMotion (mode, x - mx, y - my);
+        mx = x;
+        my = y; 
+}
+
+static void createMainWindow (int _width, int _height)
+{
+        // So GLUT doesn't complain
+        int argc = 0;
+        char **argv = NULL;
+        
+        // initialize variables
+        width = _width;
+        height = _height;
+        last_key_pressed = 0;
+
+        if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
+        
+        glutInit(&argc, argv);
+        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
+        glutInitWindowSize(_width, _height);
+        glutInitWindowPosition(100, 100);
+        glutCreateWindow("ODE Simulation");
+        
+        glutKeyboardFunc(key);
+        glutMotionFunc(MouseMove);
+        glutMouseFunc(MouseDown);
+        glutReshapeFunc(reshape);
+        glutDisplayFunc(idle);
+        glutIdleFunc(idle);
+}
+
+void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
+                        int initial_pause)
+{       
+        SIOUXSettings.initializeTB     = false;
+        SIOUXSettings.standalone       = false;
+        SIOUXSettings.setupmenus       = false;
+        SIOUXSettings.autocloseonquit  = true;
+        SIOUXSettings.asktosaveonclose = false;
+                
+        gfn = fn;
+        pause = initial_pause;
+
+        printf (
+                        "\n"
+                        "Simulation test environment v%d.%02d\n"
+                        "   Option-P : pause / unpause (or say `-pause' on command line).\n"
+                        "   Option-O : single step when paused.\n"
+                        "   Option-T : toggle textures (or say `-notex' on command line).\n"
+                        "   Option-S : toggle shadows (or say `-noshadow' on command line).\n"
+                        "   Option-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
+                        "   Option-W : write frames to ppm files: frame/frameNNN.ppm\n"
+                        "\n"
+                        "Change the camera position by clicking + dragging in the window.\n"
+                        "   Left button - pan and tilt.\n"
+                        "   Right button - forward and sideways.\n"
+                        "   Left + Right button (or middle button) - sideways and up.\n"
+                        "\n",DS_VERSION >> 8,DS_VERSION & 0xff);
+        
+        createMainWindow (window_width, window_height);
+        dsStartGraphics (window_width,window_height,fn);
+        
+        if (fn->start) fn->start();
+        
+        glutMainLoop();
+        
+        if (fn->stop) fn->stop();
+        dsStopGraphics();
+}
+
+extern "C" void dsStop(){ }// GLUT/MSL hooks into the system to exit
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h
new file mode 100644
index 0000000..4acaeed
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h
@@ -0,0 +1,2 @@
+// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths)
+#include <gl.h>
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h
new file mode 100644
index 0000000..5b4a791
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h
@@ -0,0 +1,2 @@
+// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths)
+#include <glu.h>
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h
new file mode 100644
index 0000000..bb889f9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h
@@ -0,0 +1,52 @@
+/* This file has been manually hacked together for the Mac CFM Carbon build - Frank. */
+
+#ifndef _ODE_CONFIG_H_
+#define _ODE_CONFIG_H_
+
+/* standard system headers */
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <string.h>
+#include <stdarg.h>
+#include <malloc.h>
+#include <alloca.h>
+#include <float.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* #define PENTIUM 1 -- not a pentium */
+
+/* integer types (we assume int >= 32 bits) */
+typedef char int8;
+typedef unsigned char uint8;
+typedef int int32;
+typedef unsigned int uint32;
+
+/* an integer type that we can safely cast a pointer to and from without loss of bits. */
+typedef unsigned int intP;
+
+#ifdef PRECISION_DOUBLE
+
+ /*select the base floating point type*/
+ #define dDOUBLE 1
+
+ /* the floating point infinity */
+ #define dInfinity DBL_MAX
+
+#else
+
+ /* select the base floating point type */
+ #define dSINGLE 1
+
+ /* the floating point infinity */
+ #define dInfinity FLT_MAX
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp
new file mode 100644
index 0000000..79c066a
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp
@@ -0,0 +1,289 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library 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 files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCappedCylinder dsDrawCappedCylinderD
+#endif
+
+
+// some constants
+
+#define DENSITY (5.0)           // density of all objects
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;         // the body
+  dGeomID geom;         // geometry representing this body
+};
+
+static dWorldID world;
+static dSpaceID space;
+static MyObject fallingObject;
+static dGeomID  box1, box2;
+static dJointGroupID contactgroup;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  int i;
+  // if (o1->body && o2->body) return;
+
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+  dContact contact[4];                  // up to 3 contacts per box
+  for (i=0; i<4; i++) {
+    contact[i].surface.mode = dContactBounce; //dContactMu2;
+    contact[i].surface.mu = dInfinity;
+    contact[i].surface.mu2 = 0;
+    contact[i].surface.bounce = 0.5;
+    contact[i].surface.bounce_vel = 0.1;
+  }
+  if (int numc = dCollide (o1,o2,4,&contact[0].geom,sizeof(dContact))) {
+    // dMatrix3 RI;
+    // dRSetIdentity (RI);
+    // const dReal ss[3] = {0.02,0.02,0.02};
+    for (i=0; i<numc; i++) {
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+      // dsDrawBox (contact[i].geom.pos,RI,ss);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  static float xyz[3] = {-4.0f, 0.0f, 3.0f};
+  static float hpr[3] = {0.0f,-15.0f,0.0f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   c for cylinder.\n");
+  printf ("To select an object, press space.\n");
+}
+
+
+char locase (char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+    int i,k;
+    dReal sides[3];
+    dMass m;
+
+    cmd = locase (cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c') {
+        // Destroy the currently falling object and replace it by an instance of the requested type
+        if (fallingObject.body) {
+            dBodyDestroy (fallingObject.body);
+            dGeomDestroy (fallingObject.geom);
+            memset (&fallingObject, 0, sizeof(fallingObject));
+        }
+
+        fallingObject.body = dBodyCreate (world);
+        for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+        // Start out centered above the V-gap
+        dBodySetPosition (fallingObject.body, 0,0,5);
+
+#if 0
+        dMatrix3 R;
+        dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        dBodySetRotation (fallingObject.body,R);
+        dBodySetData (fallingObject.body,(void*) i);
+#endif
+        
+        if (cmd == 'b') {
+            dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+            fallingObject.geom = dCreateBox (space,sides[0],sides[1],sides[2]);
+        }
+        else if (cmd == 'c') {
+            sides[0] *= 0.5;
+            dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
+            fallingObject.geom = dCreateCCylinder (space,sides[0],sides[1]);
+        }
+        else if (cmd == 's') {
+            sides[0] *= 0.5;
+            dMassSetSphere (&m,DENSITY,sides[0]);
+            fallingObject.geom = dCreateSphere (space,sides[0]);
+        }
+
+        dGeomSetBody (fallingObject.geom,fallingObject.body);
+
+        dBodySetMass (fallingObject.body,&m);
+    }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
+{
+  if (!g) return;
+  if (!pos) pos = dGeomGetPosition (g);
+  if (!R) R = dGeomGetRotation (g);
+
+  int type = dGeomGetClass (g);
+  if (type == dBoxClass) {
+    dVector3 sides;
+    dGeomBoxGetLengths (g,sides);
+    dsDrawBox (pos,R,sides);
+  }
+  else if (type == dSphereClass) {
+    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+  }
+  else if (type == dCCylinderClass) {
+    dReal radius,length;
+    dGeomCCylinderGetParams (g,&radius,&length);
+    dsDrawCappedCylinder (pos,R,length,radius);
+  }
+  /*
+  else if (type == dGeomTransformClass) {
+    dGeomID g2 = dGeomTransformGetGeom (g);
+    const dReal *pos2 = dGeomGetPosition (g2);
+    const dReal *R2 = dGeomGetRotation (g2);
+    dVector3 actual_pos;
+    dMatrix3 actual_R;
+    dMULTIPLY0_331 (actual_pos,R,pos2);
+    actual_pos[0] += pos[0];
+    actual_pos[1] += pos[1];
+    actual_pos[2] += pos[2];
+    dMULTIPLY0_333 (actual_R,R,R2);
+    drawGeom (g2,actual_pos,actual_R);
+  }
+   */
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dsSetColor (0,0,2);
+  dSpaceCollide (space,0,&nearCallback);
+  if (!pause) dWorldStep (world,0.0005);
+
+  // remove all contact joints
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+
+  // draw the falling object
+  dsSetColor (1,0,0);
+  drawGeom (fallingObject.geom,0,0);
+
+  // draw the constraining boxes
+  dsSetColor(0.8, 1, 0.8);
+  drawGeom (box1,0,0);
+  drawGeom (box2,0,0);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = "../../drawstuff/textures";
+  if(argc==2)
+    {
+        fn.path_to_textures = argv[1];
+    }
+
+  // create world
+
+  world = dWorldCreate();
+  space = dHashSpaceCreate();
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  dCreatePlane (space,0,0,1,0);
+  memset (&fallingObject,0,sizeof(fallingObject));
+
+  // Create two flat boxes, just slightly off vertical and a bit apart for stuff to fall in between.
+  // Don't create bodies for these boxes -- they'll be immovable instead.
+  {
+      dReal sides[3];
+      dMatrix3 R;
+      
+      sides[0] = 4;
+      sides[1] = 0.2;
+      sides[2] = 3;
+
+      box1 = dCreateBox (space,sides[0],sides[1],sides[2]);
+      dGeomSetPosition (box1, 0, sides[1], sides[2]/2);
+      dRFromAxisAndAngle (R, 1, 0, 0, -0.1);
+      dGeomSetRotation (box1, R);
+      
+      box2 = dCreateBox (space,sides[0],sides[1],sides[2]);
+      dGeomSetPosition (box2, 0, -sides[1], sides[2]/2);
+      dRFromAxisAndAngle (R, 1, 0, 0, 0.1);
+      dGeomSetRotation (box2, R);
+  }
+  
+  // Pretend to drop a box to start
+  command('b');
+  
+  // run simulation
+  dsSimulationLoop (argc,argv,640,480,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+
+  return 0;
+}
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c
new file mode 100644
index 0000000..e49fd73
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c
@@ -0,0 +1,197 @@
+#include <stdio.h>
+#include <glut.h>
+#include "ode.h"
+
+#define NUMBODIES 80
+
+#define USE_SPHERE 0
+#define USE_HELIX 1
+#define USE_TORQUE 1
+#define USE_WEIRD_MATRIX_OPS 0
+
+#define CONTACTS 1
+
+dWorldID aWorld;
+dSpaceID aSpace;
+float cycle = 0, fade;
+dJointGroupID aContactGroup;
+dBodyID bodies[NUMBODIES];
+dGeomID geoms[NUMBODIES];
+GLfloat colors[NUMBODIES][4];
+unsigned int contactsThisFrame;
+
+void kglTransformByODEGeom(dGeomID geom) {
+  const dReal *p = dGeomGetPosition(geom);
+  const dReal *R = dGeomGetRotation(geom);
+  GLdouble glm[16];
+
+  glm[0]  = R[0]; glm[1]  = R[4]; glm[2]  = R[8]; glm[3]  = 0;
+  glm[4]  = R[1]; glm[5]  = R[5]; glm[6]  = R[9]; glm[7]  = 0;
+  glm[8]  = R[2]; glm[9]  = R[6]; glm[10] = R[10];glm[11] = 0;
+  glm[12] = p[0]; glm[13] = p[1]; glm[14] = p[2]; glm[15] = 1;
+   
+  glMultMatrixd(glm);
+}
+
+static void odeNearCallback(void *data, dGeomID g1, dGeomID g2) {
+  dBodyID b1 = dGeomGetBody(g1), 
+          b2 = dGeomGetBody(g2);
+  dContact contact[CONTACTS];
+  int contactsUsed, i;
+
+  if (b1 && b2 && dAreConnected(b1, b2)) return;
+
+  contactsUsed = dCollide(g1, g2, CONTACTS, &contact[0].geom,
+    sizeof(dContact));
+  if (contactsUsed > CONTACTS) contactsUsed = CONTACTS;
+
+  for (i = 0; i < contactsUsed; i++) {
+    contact[i].surface.mode = 0;
+    contact[i].surface.mu = 20.0;
+    
+    dJointAttach(dJointCreateContact(aWorld, aContactGroup,
+      &(contact[i])), b1, b2);
+    contactsThisFrame++;
+  }
+}
+
+void myGlutResize(int w, int h) {
+  glViewport(0, 0, w, h);
+  glMatrixMode(GL_PROJECTION);
+  glLoadIdentity();
+  gluPerspective(45.0, (GLfloat)w / h, 1.0, 120.0);
+  glMatrixMode(GL_MODELVIEW);
+  glLoadIdentity();
+  glTranslatef(0, -6, -20);
+}
+
+void myGlutIdle(void) {
+  const float step = 1.0/120;
+  int i;
+
+  cycle = fmod(cycle + step / 4, 1);
+  fade = fabs(cycle * 2 - 1);
+
+  contactsThisFrame = 0;
+  dSpaceCollide(aSpace, NULL, &odeNearCallback);
+  //printf("%u\n", contactsThisFrame);
+  dWorldStep(aWorld, step);
+  dJointGroupEmpty(aContactGroup);
+
+  for (i = 0; i < NUMBODIES; i++) {
+    const dReal *cvel = dBodyGetLinearVel(bodies[i]);
+    dBodyAddForce(bodies[i],
+      -cvel[0] * 0.5,
+      -cvel[1] * 0.5,
+      -cvel[2] * 0.5
+    );
+  }
+
+  glutPostRedisplay();
+}
+
+void myGlutDisplay(void) {
+  int i;
+
+  glClearColor(fade * 0.15, 0, 0, 1);
+  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+  
+  if (USE_WEIRD_MATRIX_OPS) glPushMatrix();
+  for (i = 0; i < NUMBODIES; i++) {
+    if (!USE_WEIRD_MATRIX_OPS) glPushMatrix();
+    kglTransformByODEGeom(geoms[i]);
+    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colors[i]);
+    glColor3f(fade * 1.5, 0, 0);
+#if USE_SPHERE
+    glRotatef(90, 1, 0, 0);
+    glutSolidSphere(0.5, 9, 6);
+    glDisable(GL_LIGHTING);
+    glutWireSphere(0.5, 9, 6);
+#else
+    glutSolidCube(1);
+    glDisable(GL_LIGHTING);
+    glutWireCube(1);
+#endif
+    glEnable(GL_LIGHTING);
+    if (!USE_WEIRD_MATRIX_OPS) glPopMatrix();
+  }
+  if (USE_WEIRD_MATRIX_OPS) glPopMatrix();
+  
+  glutSwapBuffers();
+}
+
+int main(int argc, char **argv) {
+        printf("Initializing GLUT\n");
+
+  glutInit(&argc, argv);                
+  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
+  glutInitWindowSize(400, 300);
+  glutInitWindowPosition(100, 100);
+  glutCreateWindow("ODE Crash Test");
+  
+  glutDisplayFunc(myGlutDisplay);
+  glutReshapeFunc(myGlutResize);
+  glutIdleFunc(myGlutIdle);
+
+  glPolygonOffset(1, 1);
+  glDepthFunc(GL_LEQUAL);
+  glEnable(GL_POLYGON_OFFSET_FILL);
+  glEnable(GL_DEPTH_TEST);
+  glEnable(GL_CULL_FACE);
+  glEnable(GL_LIGHTING);
+  glEnable(GL_LIGHT0);
+  myGlutResize(400, 300);
+
+  printf("Creating ODE world\n");
+  aWorld = dWorldCreate();
+  aSpace = dHashSpaceCreate();
+  aContactGroup = dJointGroupCreate(0);
+  dCreatePlane(aSpace, 0, 1, 0, 0);
+  dWorldSetGravity(aWorld, 0, -9.81, 0);
+  dWorldSetERP(aWorld, 0.4);
+  dWorldSetCFM(aWorld, 1e-10);
+  
+  printf("Creating objects\n");
+  {
+    int i;
+    dMass mass;
+    
+    dMassSetBox(&mass, 1.0, 1, 1, 1);
+
+    for (i = 0; i < NUMBODIES; i++) {
+      float fraction = (float)i / NUMBODIES;
+    
+      bodies[i] = dBodyCreate(aWorld);
+      dBodySetMass(bodies[i], &mass);
+#if USE_SPHERE
+      geoms[i] = dCreateSphere(aSpace, 0.5);
+#else
+      geoms[i] = dCreateBox(aSpace, 1, 1, 1);
+#endif
+      dGeomSetBody(geoms[i], bodies[i]);
+    
+      if (USE_HELIX) {
+        float r     = (i % 3 - 1) * (1.5+4*(1 - fraction)),
+              theta = (float)i / 4;
+        dBodySetPosition(bodies[i],
+          sin(theta) * r, 
+          (float)i + 1,
+          cos(theta) * r
+        );
+      } else {
+        dBodySetPosition(bodies[i], 0, (float)i * 2 + 1, 0);
+      }
+      if (USE_TORQUE) dBodyAddTorque(bodies[i], fraction*10, fraction*20, fraction*30);
+      
+      colors[i][0] = fraction;
+      colors[i][1] = 1 - fraction;
+      colors[i][2] = 1 - fabs(fraction * 2 - 1);
+      colors[i][3] = 1;
+    }
+  }
+
+  printf("Starting simulation\n");
+  glutMainLoop();
+        
+  return 0;
+}
\ No newline at end of file