From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:07 +0000
Subject: dont ask

---
 libraries/ode-0.9/ode/demo/demo_cyl.cpp | 318 --------------------------------
 1 file changed, 318 deletions(-)
 delete mode 100644 libraries/ode-0.9/ode/demo/demo_cyl.cpp

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

diff --git a/libraries/ode-0.9/ode/demo/demo_cyl.cpp b/libraries/ode-0.9/ode/demo/demo_cyl.cpp
deleted file mode 100644
index 3692234..0000000
--- a/libraries/ode-0.9/ode/demo/demo_cyl.cpp
+++ /dev/null
@@ -1,318 +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 non-capped cylinder, 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>
-
-#include "world_geom3.h" // this is our world mesh
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-#define BOX
-#define CYL
-
-// some constants
-
-#define RADIUS 0.22	// wheel radius
-#define WMASS 0.2	// wheel mass
-#define WHEELW 0.2	// wheel width
-#define BOXSZ 0.4	// box size
-//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-#ifdef BOX
-static dBodyID boxbody;
-static dGeomID boxgeom;
-#endif
-#ifdef CYL
-static dBodyID cylbody;
-static dGeomID cylgeom;
-#endif
-static dJointGroupID contactgroup;
-static dGeomID world_mesh;
-
-
-// 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;
-  }
-
-//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
-
-  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.slip1 = 0.7;
-      contact[i].surface.slip2 = 0.7;
-      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
-      contact[i].surface.mu = 50.0; // was: dInfinity
-      contact[i].surface.soft_erp = 0.96;
-      contact[i].surface.soft_cfm = 0.04;
-      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] = {-8,-9,3};
-  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-
-static void reset_state(void)
-{
-  float sx=-4, sy=-4, sz=2;
-  dQuaternion q;
-  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-#ifdef BOX
-  dBodySetPosition (boxbody, sx, sy+1, sz);
-  dBodySetLinearVel (boxbody, 0,0,0);
-  dBodySetAngularVel (boxbody, 0,0,0);
-  dBodySetQuaternion (boxbody, q);
-#endif
-#ifdef CYL
-  dBodySetPosition (cylbody, sx, sy, sz);
-  dBodySetLinearVel (cylbody, 0,0,0);
-  dBodySetAngularVel (cylbody, 0,0,0);
-  dBodySetQuaternion (cylbody, q);
-#endif
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) 
-  {
-    case ' ':
-	  reset_state();
-      break;
-  }
-}
-
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  double simstep = 0.005; // 5ms simulation steps
-  double dt = dsElapsedTime();
-  int nrofsteps = (int) ceilf(dt/simstep);
-  for (int i=0; i<nrofsteps && !pause; i++)
-  {
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldQuickStep (world, simstep);
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,1,1);
-#ifdef BOX
-  const dReal *BPos = dBodyGetPosition(boxbody);
-  const dReal *BRot = dBodyGetRotation(boxbody);
-  float bpos[3] = {BPos[0], BPos[1], BPos[2]};
-  float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
-  float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
-  dsDrawBox
-  (
-    bpos, 
-    brot, 
-    sides
-  ); // single precision
-#endif
-#ifdef CYL
-  const dReal *CPos = dGeomGetPosition(cylgeom);
-  const dReal *CRot = dGeomGetRotation(cylgeom);
-  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
-  ( 
-//    dBodyGetPosition(cylbody),
-//    dBodyGetRotation(cylbody),
-    cpos,
-    crot,
-    WHEELW,
-    RADIUS
-  ); // single precision
-#endif
-
-  // draw world trimesh
-  dsSetColor(0.7,0.7,0.4);
-  dsSetTexture (DS_NONE);
-
-  const dReal* Pos = dGeomGetPosition(world_mesh);
-  float pos[3] = { Pos[0], Pos[1], Pos[2] };
-
-  const dReal* Rot = dGeomGetRotation(world_mesh);
-  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
-
-  int numi = sizeof(world_indices)  / sizeof(int);
-
-  for (int i=0; i<numi/3; i++)
-  {
-    int i0 = world_indices[i*3+0];
-    int i1 = world_indices[i*3+1];
-    int i2 = world_indices[i*3+2];
-    float *v0 = world_vertices+i0*3;
-    float *v1 = world_vertices+i1*3;
-    float *v2 = world_vertices+i2*3;
-    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  dMass m;
-  dMatrix3 R;
-
-  // 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, 12);
-
-
-  // Create a static world using a triangle mesh that we can collide with.
-  int numv = sizeof(world_vertices)/(3*sizeof(float));
-  int numi = sizeof(world_indices)/ sizeof(int);
-  printf("numv=%d, numi=%d\n", numv, numi);
-  dTriMeshDataID Data = dGeomTriMeshDataCreate();
-
-  dGeomTriMeshDataBuildSingle
-  (
-    Data, 
-    world_vertices, 
-    3 * sizeof(float), 
-    numv, 
-    world_indices, 
-    numi, 
-    3 * sizeof(int)
-  );
-
-  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
-  dGeomSetPosition(world_mesh, 0, 0, 0.5);
-  dRFromAxisAndAngle (R, 0,1,0, 0.0);
-  dGeomSetRotation (world_mesh, R);
-
-
-#ifdef BOX
-  boxbody = dBodyCreate (world);
-  dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
-  dMassAdjust (&m, 1);
-  dBodySetMass (boxbody,&m);
-  boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
-  dGeomSetBody (boxgeom,boxbody);
-  dSpaceAdd (space, boxgeom);
-#endif
-#ifdef CYL
-  cylbody = dBodyCreate (world);
-  dMassSetSphere (&m,1,RADIUS);
-  dMassAdjust (&m,WMASS);
-  dBodySetMass (cylbody,&m);
-  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
-  dGeomSetBody (cylgeom,cylbody);
-  
-  #if defined(CYL_GEOM_OFFSET)
-  dMatrix3 mat;
-  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
-  dGeomSetOffsetRotation(cylgeom,mat);
-  #endif
-    
-  dSpaceAdd (space, cylgeom);
-#endif
-  reset_state();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  // First destroy geoms, then space, then the world.
-#ifdef CYL
-  dGeomDestroy (cylgeom);
-#endif
-#ifdef BOX
-  dGeomDestroy (boxgeom);
-#endif
-  dGeomDestroy (world_mesh);
-
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
-- 
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