trying to fix my screwup, please hold on

1 files changed, 0 insertions, 243 deletions

diff --git a/libraries/ode-0.9/ode/src/testing.cpp b/libraries/ode-0.9/ode/src/testing.cpp
deleted file mode 100644
index a22f865..0000000
--- a/libraries/ode-0.9/ode/src/testing.cpp
+++ /dev/null
@@ -1,243 +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/config.h>
-#include <ode/misc.h>
-#include <ode/memory.h>
-#include "testing.h"
-
-#ifdef dDOUBLE
-static const dReal tol = 1.0e-9;
-#else
-static const dReal tol = 1.0e-5f;
-#endif
-
-
-// matrix header on the stack
-
-struct dMatrixComparison::dMatInfo {
-  int n,m;              // size of matrix
-  char name[128];       // name of the matrix
-  dReal *data;          // matrix data
-  int size;             // size of `data'
-};
-
-
-
-dMatrixComparison::dMatrixComparison()
-{
-  afterfirst = 0;
-  index = 0;
-}
-
-
-dMatrixComparison::~dMatrixComparison()
-{
-  reset();
-}
-
-
-dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
-                                     char *name, ...)
-{
-  if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
-  int num = n*dPAD(m);
-
-  if (afterfirst==0) {
-    dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
-    mi->n = n;
-    mi->m = m;
-    mi->size = num * sizeof(dReal);
-    mi->data = (dReal*) dAlloc (mi->size);
-    memcpy (mi->data,A,mi->size);
-
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi->name,name,ap);
-    if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
-
-    mat.push (mi);
-    return 0;
-  }
-  else {
-    if (lower_tri && n != m)
-      dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
-    if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
-    dMatInfo *mp = mat[index];
-    index++;
-
-    dMatInfo mi;
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi.name,name,ap);
-    if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
-
-    if (strcmp(mp->name,mi.name) != 0)
-      dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
-              mp->name,mi.name);
-    if (mp->n != n || mp->m != m)
-      dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
-              mp->n,mp->m,n,m);
-
-    dReal maxdiff;
-    if (lower_tri) {
-      maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
-    }
-    else {
-      maxdiff = dMaxDifference (A,mp->data,n,m);
-    }
-    if (maxdiff > tol)
-      dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
-              "error=%.4e)",n,m,mi.name,maxdiff);
-    return maxdiff;
-  }
-}
-
-
-void dMatrixComparison::end()
-{
-  if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
-  afterfirst = 1;
-  index = 0;
-}
-
-
-void dMatrixComparison::reset()
-{
-  for (int i=0; i<mat.size(); i++) {
-    dFree (mat[i]->data,mat[i]->size);
-    dFree (mat[i],sizeof(dMatInfo));
-  }
-  mat.setSize (0);
-  afterfirst = 0;
-  index = 0;
-}
-
-
-void dMatrixComparison::dump()
-{
-  for (int i=0; i<mat.size(); i++)
-    printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
-}
-
-//****************************************************************************
-// unit test
-
-#include <setjmp.h>
-
-static jmp_buf jump_buffer;
-
-static void myDebug (int num, const char *msg, va_list ap)
-{
-  // printf ("(Error %d: ",num);
-  // vprintf (msg,ap);
-  // printf (")\n");
-  longjmp (jump_buffer,1);
-}
-
-
-extern "C" ODE_API void dTestMatrixComparison()
-{
-  volatile int i;
-  printf ("dTestMatrixComparison()\n");
-  dMessageFunction *orig_debug = dGetDebugHandler();
-
-  dMatrixComparison mc;
-  dReal A[50*50];
-
-  // make first sequence
-  unsigned long seed = dRandGetSeed();
-  for (i=1; i<49; i++) {
-    dMakeRandomMatrix (A,i,i+1,1.0);
-    mc.nextMatrix (A,i,i+1,0,"A%d",i);
-  }
-  mc.end();
-
-  //mc.dump();
-
-  // test identical sequence
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (1)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (1)\n");
-  }
-  dSetDebugHandler (orig_debug);
-
-  // test broken sequences (with matrix error)
-  dRandSetSeed (seed);
-  volatile int passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test broken sequences (with name error)
-  dRandSetSeed (seed);
-  passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"B%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test identical sequence again
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (4)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (4)\n");
-  }
-  dSetDebugHandler (orig_debug);
-}