From 0d2e078eebb2827e0ed49e55dd10df406c4e3af1 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:22:50 +0000
Subject: trying to fix my screwup part deux

---
 .../ode-0.9\\/ode/demo/demo_cylvssphere.cpp"       | 238 ---------------------
 1 file changed, 238 deletions(-)
 delete mode 100755 "libraries/ode-0.9\\/ode/demo/demo_cylvssphere.cpp"

(limited to 'libraries/ode-0.9\/ode/demo/demo_cylvssphere.cpp')

diff --git "a/libraries/ode-0.9\\/ode/demo/demo_cylvssphere.cpp" "b/libraries/ode-0.9\\/ode/demo/demo_cylvssphere.cpp"
deleted file mode 100755
index 1fb98ad..0000000
--- "a/libraries/ode-0.9\\/ode/demo/demo_cylvssphere.cpp"
+++ /dev/null
@@ -1,238 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// Test for cylinder vs sphere, by Bram Stolk
-
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-
-static dBodyID cylbody;
-static dGeomID cylgeom;
-
-static dBodyID sphbody;
-static dGeomID sphgeom;
-
-static dJointGroupID contactgroup;
-static dGeomID world_mesh;
-
-static bool show_contacts = true;
-
-#define CYLRADIUS    0.6
-#define CYLLENGTH    2.0
-#define SPHERERADIUS 0.5
-
-    
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawLine dsDrawLineD
-#endif
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-      contact[i].surface.mode = 0;
-      contact[i].surface.mu = 50.0; // was: dInfinity
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
-      if (show_contacts) 
-      {
-        dMatrix3 RI;
-        dRSetIdentity (RI);
-        const dReal ss[3] = {0.12,0.12,0.12};
-        dsSetColorAlpha (0,0,1,0.5);
-        dsDrawBox (contact[i].geom.pos,RI,ss);
-        dReal *pos  = contact[i].geom.pos;
-        dReal depth = contact[i].geom.depth;
-        dReal *norm = contact[i].geom.normal;
-        dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
-        dsSetColorAlpha (1,1,1,1);
-        dsDrawLine (contact[i].geom.pos, endp);
-      }
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {-8,-9,3};
-  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) 
-  {
-    case ' ':
-      break;
-  }
-}
-
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dSpaceCollide (space,0,&nearCallback);
-  if (!pause)
-  {
-    dWorldQuickStep (world, 0.01); // 100 Hz
-  }
-  dJointGroupEmpty (contactgroup);
-
-  dsSetColorAlpha (1,1,0,0.5);
-
-  const dReal *CPos = dBodyGetPosition(cylbody);
-  const dReal *CRot = dBodyGetRotation(cylbody);
-  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
-  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
-  dsDrawCylinder
-  (
-    cpos,
-    crot,
-    CYLLENGTH,
-    CYLRADIUS
-  ); // single precision
-
-  const dReal *SPos = dBodyGetPosition(sphbody);
-  const dReal *SRot = dBodyGetRotation(sphbody);
-  float spos[3] = {SPos[0], SPos[1], SPos[2]};
-  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
-  dsDrawSphere
-  (
-    spos,
-    srot,
-    SPHERERADIUS
-  ); // single precision
-}
-
-
-int main (int argc, char **argv)
-{
-  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,-9.8);
-  dWorldSetQuickStepNumIterations (world, 32);
-
-  dCreatePlane (space,0,0,1, 0.0);
-
-  cylbody = dBodyCreate (world);
-  dQuaternion q;
-#if 0
-  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-#else
-//  dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
-  dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
-#endif
-  dBodySetQuaternion (cylbody,q);
-  dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
-  dBodySetMass (cylbody,&m);
-  cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
-  dGeomSetBody (cylgeom,cylbody);
-  dBodySetPosition (cylbody, 0, 0, 3);
-  dSpaceAdd (space, cylgeom);
-
-  sphbody = dBodyCreate (world);
-  dMassSetSphere (&m,1,SPHERERADIUS);
-  dBodySetMass (sphbody,&m);
-  sphgeom = dCreateSphere(0, SPHERERADIUS);
-  dGeomSetBody (sphgeom,sphbody);
-  dBodySetPosition (sphbody, 0, 0, 5.5);
-  dSpaceAdd (space, sphgeom);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  dGeomDestroy(sphgeom);
-  dGeomDestroy (cylgeom);
-
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
-- 
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