libraries moved to opensim-libs, a new repository

1 files changed, 0 insertions, 325 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_buggy.cpp b/libraries/ode-0.9/ode/demo/demo_buggy.cpp
deleted file mode 100644
index a482e02..0000000
--- a/libraries/ode-0.9/ode/demo/demo_buggy.cpp
+++ /dev/null
@@ -1,325 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-buggy with suspension.
-this also shows you how to use geom groups.
-
-*/
-
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define LENGTH 0.7      // chassis length
-#define WIDTH 0.5       // chassis width
-#define HEIGHT 0.2      // chassis height
-#define RADIUS 0.18     // wheel radius
-#define STARTZ 0.5      // starting height of chassis
-#define CMASS 1         // chassis mass
-#define WMASS 0.2       // wheel mass
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[4];
-static dJointID joint[3];       // joint[0] is the front wheel
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dSpaceID car_space;
-static dGeomID box[1];
-static dGeomID sphere[3];
-static dGeomID ground_box;
-
-
-// things that the user controls
-
-static dReal speed=0,steer=0;   // user commands
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i,n;
-
-  // only collide things with the ground
-  int g1 = (o1 == ground || o1 == ground_box);
-  int g2 = (o2 == ground || o2 == ground_box);
-  if (!(g1 ^ g2)) return;
-
-  const int N = 10;
-  dContact contact[N];
-  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
-  if (n > 0) {
-    for (i=0; i<n; i++) {
-      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
-        dContactSoftERP | dContactSoftCFM | dContactApprox1;
-      contact[i].surface.mu = dInfinity;
-      contact[i].surface.slip1 = 0.1;
-      contact[i].surface.slip2 = 0.1;
-      contact[i].surface.soft_erp = 0.5;
-      contact[i].surface.soft_cfm = 0.3;
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c,
-                    dGeomGetBody(contact[i].geom.g1),
-                    dGeomGetBody(contact[i].geom.g2));
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
-  static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press:\t'a' to increase speed.\n"
-          "\t'z' to decrease speed.\n"
-          "\t',' to steer left.\n"
-          "\t'.' to steer right.\n"
-          "\t' ' to reset speed and steering.\n"
-          "\t'1' to save the current state to 'state.dif'.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) {
-  case 'a': case 'A':
-    speed += 0.3;
-    break;
-  case 'z': case 'Z':
-    speed -= 0.3;
-    break;
-  case ',':
-    steer -= 0.5;
-    break;
-  case '.':
-    steer += 0.5;
-    break;
-  case ' ':
-    speed = 0;
-    steer = 0;
-    break;
-  case '1': {
-      FILE *f = fopen ("state.dif","wt");
-      if (f) {
-        dWorldExportDIF (world,f,"");
-        fclose (f);
-      }
-    }
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    // motor
-    dJointSetHinge2Param (joint[0],dParamVel2,-speed);
-    dJointSetHinge2Param (joint[0],dParamFMax2,0.1);
-
-    // steering
-    dReal v = steer - dJointGetHinge2Angle1 (joint[0]);
-    if (v > 0.1) v = 0.1;
-    if (v < -0.1) v = -0.1;
-    v *= 10.0;
-    dJointSetHinge2Param (joint[0],dParamVel,v);
-    dJointSetHinge2Param (joint[0],dParamFMax,0.2);
-    dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
-    dJointSetHinge2Param (joint[0],dParamHiStop,0.75);
-    dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1);
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    // remove all contact joints
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (0,1,1);
-  dsSetTexture (DS_WOOD);
-  dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
-  dsSetColor (1,1,1);
-  for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]),
-                                       dBodyGetRotation(body[i]),0.02f,RADIUS);
-
-  dVector3 ss;
-  dGeomBoxGetLengths (ground_box,ss);
-  dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
-
-  /*
-  printf ("%.10f %.10f %.10f %.10f\n",
-          dJointGetHingeAngle (joint[1]),
-          dJointGetHingeAngle (joint[2]),
-          dJointGetHingeAngleRate (joint[1]),
-          dJointGetHingeAngleRate (joint[2]));
-  */
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-  dMass m;
-
-  // 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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  ground = dCreatePlane (space,0,0,1,0);
-
-  // chassis body
-  body[0] = dBodyCreate (world);
-  dBodySetPosition (body[0],0,0,STARTZ);
-  dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-  dMassAdjust (&m,CMASS);
-  dBodySetMass (body[0],&m);
-  box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT);
-  dGeomSetBody (box[0],body[0]);
-
-  // wheel bodies
-  for (i=1; i<=3; i++) {
-    body[i] = dBodyCreate (world);
-    dQuaternion q;
-    dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-    dBodySetQuaternion (body[i],q);
-    dMassSetSphere (&m,1,RADIUS);
-    dMassAdjust (&m,WMASS);
-    dBodySetMass (body[i],&m);
-    sphere[i-1] = dCreateSphere (0,RADIUS);
-    dGeomSetBody (sphere[i-1],body[i]);
-  }
-  dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5);
-
-  // front wheel hinge
-  /*
-  joint[0] = dJointCreateHinge2 (world,0);
-  dJointAttach (joint[0],body[0],body[1]);
-  const dReal *a = dBodyGetPosition (body[1]);
-  dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]);
-  dJointSetHinge2Axis1 (joint[0],0,0,1);
-  dJointSetHinge2Axis2 (joint[0],0,1,0);
-  */
-
-  // front and back wheel hinges
-  for (i=0; i<3; i++) {
-    joint[i] = dJointCreateHinge2 (world,0);
-    dJointAttach (joint[i],body[0],body[i+1]);
-    const dReal *a = dBodyGetPosition (body[i+1]);
-    dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]);
-    dJointSetHinge2Axis1 (joint[i],0,0,1);
-    dJointSetHinge2Axis2 (joint[i],0,1,0);
-  }
-
-  // set joint suspension
-  for (i=0; i<3; i++) {
-    dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4);
-    dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8);
-  }
-
-  // lock back wheels along the steering axis
-  for (i=1; i<3; i++) {
-    // set stops to make sure wheels always stay in alignment
-    dJointSetHinge2Param (joint[i],dParamLoStop,0);
-    dJointSetHinge2Param (joint[i],dParamHiStop,0);
-    // the following alternative method is no good as the wheels may get out
-    // of alignment:
-    //   dJointSetHinge2Param (joint[i],dParamVel,0);
-    //   dJointSetHinge2Param (joint[i],dParamFMax,dInfinity);
-  }
-
-  // create car space and add it to the top level space
-  car_space = dSimpleSpaceCreate (space);
-  dSpaceSetCleanup (car_space,0);
-  dSpaceAdd (car_space,box[0]);
-  dSpaceAdd (car_space,sphere[0]);
-  dSpaceAdd (car_space,sphere[1]);
-  dSpaceAdd (car_space,sphere[2]);
-
-  // environment
-  ground_box = dCreateBox (space,2,1.5,1);
-  dMatrix3 R;
-  dRFromAxisAndAngle (R,0,1,0,-0.15);
-  dGeomSetPosition (ground_box,2,0,-0.34);
-  dGeomSetRotation (ground_box,R);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dGeomDestroy (box[0]);
-  dGeomDestroy (sphere[0]);
-  dGeomDestroy (sphere[1]);
-  dGeomDestroy (sphere[2]);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}