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_friction.cpp | 206 ---------------------------
 1 file changed, 206 deletions(-)
 delete mode 100644 libraries/ode-0.9/ode/demo/demo_friction.cpp

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

diff --git a/libraries/ode-0.9/ode/demo/demo_friction.cpp b/libraries/ode-0.9/ode/demo/demo_friction.cpp
deleted file mode 100644
index 36ba2d4..0000000
--- a/libraries/ode-0.9/ode/demo/demo_friction.cpp
+++ /dev/null
@@ -1,206 +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 the Coulomb friction approximation.
-
-a 10x10 array of boxes is made, each of which rests on the ground.
-a horizantal force is applied to each box to try and get it to slide.
-box[i][j] has a mass (i+1)*MASS and a force (j+1)*FORCE. by the Coloumb
-friction model, the box should only slide if the force is greater than MU
-times the contact normal force, i.e.
-
-  f > MU * body_mass * GRAVITY
-  (j+1)*FORCE > MU * (i+1)*MASS * GRAVITY
-  (j+1) > (i+1) * (MU*MASS*GRAVITY/FORCE)
-  (j+1) > (i+1) * k
-
-this should be independent of the number of contact points, as N contact
-points will each have 1/N'th the normal force but the pushing force will
-have to overcome N contacts. the constants are chosen so that k=1.
-thus you should see a triangle made of half the bodies in the array start to
-slide.
-
-*/
-
-
-#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
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define LENGTH 0.2	// box length & width
-#define HEIGHT 0.05	// box height
-#define MASS 0.2	// mass of box[i][j] = (i+1) * MASS
-#define FORCE 0.05	// force applied to box[i][j] = (j+1) * FORCE
-#define MU 0.5		// the global mu to use
-#define GRAVITY 0.5	// the global gravity to use
-#define N1 10		// number of different forces to try
-#define N2 10		// number of different masses to try
-
-
-// dynamics and collision objects
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[N1][N2];
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dGeomID box[N1][N2];
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i;
-
-  // only collide things with the ground
-  int g1 = (o1 == ground);
-  int g2 = (o2 == ground);
-  if (!(g1 ^ g2)) return;
-
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-
-  dContact contact[3];		// up to 3 contacts per box
-  for (i=0; i<3; i++) {
-    contact[i].surface.mode = dContactSoftCFM | dContactApprox1;
-    contact[i].surface.mu = MU;
-    contact[i].surface.soft_cfm = 0.01;
-  }
-  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
-    for (i=0; i<numc; i++) {
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-      dJointAttach (c,b1,b2);
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.7772,-0.7924,2.7600};
-  static float hpr[3] = {90.0000,-54.0000,0.0000};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    // apply forces to all bodies
-    for (i=0; i<N1; i++) {
-      for (int j=0; j<N2; j++) {
-	dBodyAddForce (body[i][j],FORCE*(i+1),0,0);
-      }
-    }
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    // remove all contact joints
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,0,1);
-  dReal sides[3] = {LENGTH,LENGTH,HEIGHT};
-  for (i=0; i<N1; i++) {
-    for (int j=0; j<N2; j++) {
-      dsDrawBox (dGeomGetPosition(box[i][j]),dGeomGetRotation(box[i][j]),
-		 sides);
-    }
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  int i,j;
-  dMass m;
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  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,-GRAVITY);
-  ground = dCreatePlane (space,0,0,1,0);
-
-  // bodies
-  for (i=0; i<N1; i++) {
-    for (j=0; j<N2; j++) {
-      body[i][j] = dBodyCreate (world);
-      dMassSetBox (&m,1,LENGTH,LENGTH,HEIGHT);
-      dMassAdjust (&m,MASS*(j+1));
-      dBodySetMass (body[i][j],&m);
-      dBodySetPosition (body[i][j],i*2*LENGTH,j*2*LENGTH,HEIGHT*0.5);
-
-      box[i][j] = dCreateBox (space,LENGTH,LENGTH,HEIGHT);
-      dGeomSetBody (box[i][j],body[i][j]);
-    }
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
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