dont ask

1 files changed, 0 insertions, 210 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_motor.cpp b/libraries/ode-0.9/ode/demo/demo_motor.cpp
deleted file mode 100644
index 655da0c..0000000
--- a/libraries/ode-0.9/ode/demo/demo_motor.cpp
+++ /dev/null
@@ -1,210 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-#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
-#endif
-
-
-// some constants
-#define SIDE (0.5f)     // side length of a box
-#define MASS (1.0)      // mass of a box
-
-
-// dynamics and collision objects
-static dWorldID world;
-static dBodyID body[2];
-static dGeomID geom[2];
-static dJointID lmotor[2];
-static dJointID amotor[2];
-static dSpaceID space;
-static dJointGroupID contactgroup;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
-  printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == 'q' || cmd == 'Q') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
-  } else if (cmd == 'a' || cmd == 'A') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,0);
-  } else if (cmd == 'z' || cmd == 'Z') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
-  } else if (cmd == 'w' || cmd == 'W') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  } else if (cmd == 'e' || cmd == 'E') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  } else if (cmd == 'r' || cmd == 'R') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  }
-  
-}
-
-
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  // exit without doing anything if the two bodies are connected by a joint
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-
-  dContact contact;
-  contact.surface.mode = 0;
-  contact.surface.mu = dInfinity;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world,contactgroup,&contact);
-    dJointAttach (c,b1,b2);
-  }
-}
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    dSpaceCollide(space,0,&nearCallback);
-    dWorldQuickStep (world,0.05);
-        dJointGroupEmpty(contactgroup);
-  }
-
-  dReal sides1[3];
-  dGeomBoxGetLengths(geom[0], sides1);
-  dReal sides2[3];
-  dGeomBoxGetLengths(geom[1], sides2);
-  dsSetTexture (DS_WOOD);
-  dsSetColor (1,1,0);
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-  dsSetColor (0,1,1);
-  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-}
-
-
-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
-  dInitODE();
-  contactgroup = dJointGroupCreate(0);
-  world = dWorldCreate();
-  space = dSimpleSpaceCreate(0);
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0],0,0,1);
-  geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
-  body[1] = dBodyCreate (world);
-  dBodySetMass (body[1],&m);
-  dBodySetPosition (body[1],0,0,2);
-  geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); 
-
-  dGeomSetBody(geom[0],body[0]);
-  dGeomSetBody(geom[1],body[1]);
-
-  lmotor[0] = dJointCreateLMotor (world,0);
-  dJointAttach (lmotor[0],body[0],body[1]);
-  lmotor[1] = dJointCreateLMotor (world,0);
-  dJointAttach (lmotor[1],body[0],0);
-  amotor[0] = dJointCreateAMotor(world,0);
-  dJointAttach(amotor[0], body[0],body[1]);
-  amotor[1] = dJointCreateAMotor(world,0);
-  dJointAttach(amotor[1], body[0], 0);
-  
-  for (int i=0; i<2; i++) {
-          dJointSetAMotorNumAxes(amotor[i], 3);
-          dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
-          dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
-          dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
-          dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
-          dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
-          dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
-
-          dJointSetAMotorParam(amotor[i],dParamVel,0);
-          dJointSetAMotorParam(amotor[i],dParamVel2,0);
-          dJointSetAMotorParam(amotor[i],dParamVel3,0);
-
-          dJointSetLMotorNumAxes(lmotor[i],3);
-          dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
-          dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
-          dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
-         
-          dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
-          dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
-          dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy(contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}