libraries moved to opensim-libs, a new repository

1 files changed, 0 insertions, 172 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_slider.cpp b/libraries/ode-0.9/ode/demo/demo_slider.cpp
deleted file mode 100644
index 5de08b0..0000000
--- a/libraries/ode-0.9/ode/demo/demo_slider.cpp
+++ /dev/null
@@ -1,172 +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 dJointID slider;
-
-
-// state set by keyboard commands
-static int occasional_error = 0;
-
-
-// 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 'e' to start/stop occasional error.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == 'e' || cmd == 'E') {
-    occasional_error ^= 1;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  const dReal kd = -0.3;        // angular damping constant
-  const dReal ks = 0.5; // spring constant
-  if (!pause) {
-    // add an oscillating torque to body 0, and also damp its rotational motion
-    static dReal a=0;
-    const dReal *w = dBodyGetAngularVel (body[0]);
-    dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
-    a += 0.01;
-
-    // add a spring force to keep the bodies together, otherwise they will
-    // fly apart along the slider axis.
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),
-                   ks*(p2[2]-p1[2]));
-    dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),
-                   ks*(p1[2]-p2[2]));
-
-    // occasionally re-orient one of the bodies to create a deliberate error.
-    if (occasional_error) {
-      static int count = 0;
-      if ((count % 20)==0) {
-        // randomly adjust orientation of body[0]
-        const dReal *R1;
-        dMatrix3 R2,R3;
-        R1 = dBodyGetRotation (body[0]);
-        dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
-                            dRandReal()-0.5,dRandReal()-0.5);
-        dMultiply0 (R3,R1,R2,3,3,3);
-        dBodySetRotation (body[0],R3);
-
-        // randomly adjust position of body[0]
-        const dReal *pos = dBodyGetPosition (body[0]);
-        dBodySetPosition (body[0],
-                          pos[0]+0.2*(dRandReal()-0.5),
-                          pos[1]+0.2*(dRandReal()-0.5),
-                          pos[2]+0.2*(dRandReal()-0.5));
-      }
-      count++;
-    }
-
-    dWorldStep (world,0.05);
-  }
-
-  dReal sides1[3] = {SIDE,SIDE,SIDE};
-  dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f};
-  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();
-  world = dWorldCreate();
-  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);
-  body[1] = dBodyCreate (world);
-  dBodySetMass (body[1],&m);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI);
-  dBodySetPosition (body[1],0.2,0.2,1.2);
-  dBodySetQuaternion (body[1],q);
-
-  slider = dJointCreateSlider (world,0);
-  dJointAttach (slider,body[0],body[1]);
-  dJointSetSliderAxis (slider,1,1,1);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}