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_jointPR.cpp | 377 ----------------------------
 1 file changed, 377 deletions(-)
 delete mode 100644 libraries/ode-0.9/ode/demo/demo_jointPR.cpp

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

diff --git a/libraries/ode-0.9/ode/demo/demo_jointPR.cpp b/libraries/ode-0.9/ode/demo/demo_jointPR.cpp
deleted file mode 100644
index e0d002d..0000000
--- a/libraries/ode-0.9/ode/demo/demo_jointPR.cpp
+++ /dev/null
@@ -1,377 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-This file try to demonstrate how the PR joint is working.
-
-The axisP is draw in red and the axisR is in green
-
-*/
-
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-#include <iostream>
-#include <math.h>
-
-
-#define DRAWSTUFF_TEXTURE_PATH "../../drawstuff/textures"
-
-
-#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
-
-// physics parameters
-#define BOX1_LENGTH 2    // Size along the X axis 
-#define BOX1_WIDTH 1     // Size along the Y axis
-#define BOX1_HEIGHT 0.4  // Size along the Z axis (up) since gravity is (0,0,-10)
-#define BOX2_LENGTH 0.2
-#define BOX2_WIDTH 0.1
-#define BOX2_HEIGHT 0.4
-#define Mass1 10
-#define Mass2 0.1
-
-
-#define PRISMATIC_ONLY 1
-#define ROTOIDE_ONLY   2
-int flag = 0;
-
-
-//camera view
-static float xyz[3] = {2.0f,-3.5f,2.0000f};
-static float hpr[3] = {90.000f,-25.5000f,0.0000f};
-//world,space,body & geom
-static dWorldID world;
-static dSpaceID space;
-static dSpaceID box1_space;
-static dSpaceID box2_space;
-static dBodyID box1_body[1];
-static dBodyID box2_body[1];
-static dJointID joint[1];
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dGeomID box1[1];
-static dGeomID box2[1];
-
-
-//collision detection
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-	  int i,n;
-
-		  dBodyID b1 = dGeomGetBody(o1);
-		  dBodyID b2 = dGeomGetBody(o2);
-		  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
-		  const int N = 10;
-		  dContact contact[N];
-		  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
-		  if (n > 0)
-		  {
-			for (i=0; i<n; i++)
-			{
-				 contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
-				 dContactSoftERP | dContactSoftCFM | dContactApprox1;
-				 contact[i].surface.mu = 0.1;
-				 contact[i].surface.slip1 = 0.02;
-				 contact[i].surface.slip2 = 0.02;
-				 contact[i].surface.soft_erp = 0.1;
-				 contact[i].surface.soft_cfm = 0.0001;
-				 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()
-{
-		dsSetViewpoint (xyz,hpr);
-		printf ("Press 'd' to add force along positive x direction.\nPress 'a' to add force along negative x direction.\n");
-		printf ("Press 'w' to add force along positive y direction.\nPress 's' to add force along negative y direction.\n");
-		printf ("Press 'e' to add torque around positive z direction.\nPress 'q' to add torque around negative z direction.\n");
-		printf ("Press 'o' to add force around positive x direction \n");
-}
-
-// function to update camera position at each step.
-void update()
-{
-// 		const dReal *a =(dBodyGetPosition (box1_body[0]));
-// 		float dx=a[0];
-// 		float dy=a[1];
-// 		float dz=a[2];
-// 		xyz[0]=dx;
-// 		xyz[1]=dy-5;
-// 		xyz[2]=dz+2;
-// 		hpr[1]=-22.5000f;
-// 		dsSetViewpoint (xyz,hpr);
-}
-
-
-// called when a key pressed
-static void command (int cmd)
-{
-    switch(cmd)
-	{
-		case 'w': case 'W':
-			dBodyAddForce(box2_body[0],0,500,0);
-			std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
-			break;
-		case 's': case 'S':
-			dBodyAddForce(box2_body[0],0,-500,0);
-			std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
-			break;
-		case 'd': case 'D':
-			dBodyAddForce(box2_body[0],500,0,0);
-			std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
-			break;
-		case 'a': case 'A':
-			dBodyAddForce(box2_body[0],-500,0,0);
-			std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
-			break;
-		case 'e': case 'E':
-			dBodyAddRelTorque(box2_body[0],0,0,200);
-			break;
-		case 'q': case 'Q':
-			dBodyAddRelTorque(box2_body[0],0,0,-200);
-			break;
-		case 'o': case 'O':
-			dBodyAddForce(box1_body[0],10000,0,0);
-			break;
-	}
-}
-
-
-// simulation loop
-static void simLoop (int pause)
-{
-	if (!pause)
-	{
-		//draw 2 boxes
-		dVector3 ss;
-		dsSetTexture (DS_WOOD);
-
-		const dReal *posBox2 = dGeomGetPosition(box2[0]);
-		const dReal *rotBox2 = dGeomGetRotation(box2[0]);
-		dsSetColor (1,1,0);
-		dGeomBoxGetLengths (box2[0],ss);
-		dsDrawBox (posBox2, rotBox2, ss);
-
-		const dReal *posBox1 = dGeomGetPosition(box1[0]);
-		const dReal *rotBox1 = dGeomGetRotation(box1[0]);
-		dsSetColor (1,1,2);
-		dGeomBoxGetLengths (box1[0], ss);
-		dsDrawBox (posBox1, rotBox1, ss);
-
-		dVector3 anchorPos;
-		dJointGetPRAnchor (joint[0], anchorPos);
-
-		// Draw the axisP 
-		if (ROTOIDE_ONLY != flag )
-		{
-		  dsSetColor (1,0,0);
-		  dVector3 sizeP = {0, 0.1, 0.1};
-		  for (int i=0; i<3; ++i)
-		    sizeP[0] += (anchorPos[i] - posBox1[i])*(anchorPos[i] - posBox1[i]);
-		  sizeP[0] = sqrt(sizeP[0]);
-		  dVector3 posAxisP;
-		  for (int i=0; i<3; ++i)
-		    posAxisP[i] = posBox1[i] + (anchorPos[i] - posBox1[i])/2.0;
-		  dsDrawBox (posAxisP, rotBox1, sizeP);
-		}
-		
-
-		// Draw the axisR 
-		if (PRISMATIC_ONLY != flag )
-		{
-		  dsSetColor (0,1,0);
-		  dVector3 sizeR = {0, 0.1, 0.1};
-		  for (int i=0; i<3; ++i)
-		    sizeR[0] += (anchorPos[i] - posBox2[i])*(anchorPos[i] - posBox2[i]);
-		  sizeR[0] = sqrt(sizeR[0]);
-		  dVector3 posAxisR;
-		  for (int i=0; i<3; ++i)
-		    posAxisR[i] = posBox2[i] + (anchorPos[i] - posBox2[i])/2.0;
-		  dsDrawBox (posAxisR, rotBox2, sizeR);
-		}
-
-		dSpaceCollide (space,0,&nearCallback);
-		dWorldQuickStep (world,0.0001);
-		update();
-		dJointGroupEmpty (contactgroup);
-	  }
-}
-
-
-void Help(char **argv)
-{
-  printf("%s ", argv[0]);
-  printf(" -h | --help : print this help\n");
-  printf(" -b | --both : Display how the complete joint works\n");
-  printf("               Default behavior\n");
-  printf(" -p | --prismatic-only : Display how the prismatic part works\n");
-  printf("                         The anchor pts is set at the center of body 2\n");
-  printf(" -r | --rotoide-only   : Display how the rotoide part works\n");
-  printf("                         The anchor pts is set at the center of body 1\n");
-  printf(" -t | --texture-path path  : Path to the texture.\n");
-  printf("                             Default = %s\n", DRAWSTUFF_TEXTURE_PATH);
-  printf("--------------------------------------------------\n");
-  printf("Hit any key to continue:");
-  getchar();
-
-  exit(0);
-}
-
-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_TEXTURE_PATH;
-  
-  if (argc >= 2 )
-  {
-    for (int i=1; i < argc; ++i)
-    {
-      if(  0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) )
-	Help(argv);
-      
-      if(!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) )
-	flag = PRISMATIC_ONLY;
-      
-      if(!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) )
-	flag = ROTOIDE_ONLY;
-      
-      if(0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i]))
-      {
-	int j = i+1;
-	if ( j+1 > argc      ||  // Check if we have enough arguments
-	     argv[j] == '\0' ||  // We should have a path here
-	     argv[j][0] == '-' ) // We should have a path not a command line
-	  Help(argv);
-	else
-	  fn.path_to_textures = argv[++i]; // Increase i since we use this argument
-      }
-    }
-  }
-  
-  // create world
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-10);
-  ground = dCreatePlane (space,0,0,1,0);
-  
-  //create two boxes
-  dMass m;
-  box1_body[0] = dBodyCreate (world);
-  dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
-  dMassAdjust (&m,Mass1);
-  dBodySetMass (box1_body[0],&m);
-  box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
-  dGeomSetBody (box1[0],box1_body[0]);
-  
-  box2_body[0] = dBodyCreate (world);
-  dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
-  dMassAdjust (&m,Mass2);
-  dBodySetMass (box2_body[0],&m);
-  box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
-  dGeomSetBody (box2[0],box2_body[0]);
-  
-  //set the initial positions of body1 and body2
-  dMatrix3 R;
-  dRSetIdentity(R);
-  dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0);
-  dBodySetRotation (box1_body[0], R);
-  
-  dBodySetPosition (box2_body[0],
-		    2.1, 
-		    0.0,
-		    BOX2_HEIGHT/2.0);
-  dBodySetRotation (box2_body[0], R);
-  
-  
-  //set PR joint
-  joint[0] = dJointCreatePR(world,0);
-  dJointAttach (joint[0],box1_body[0],box2_body[0]);  
-  switch (flag)
-  {
-    case PRISMATIC_ONLY:
-      dJointSetPRAnchor (joint[0], 
-			 2.1, 
-			 0.0,
-			 BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, -0.5);
-      dJointSetPRParam (joint[0],dParamHiStop, 1.5);
-      break;
-      
-    case ROTOIDE_ONLY:
-      dJointSetPRAnchor (joint[0], 
-			 0.0, 
-			 0.0,
-			 BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, 0.0);
-      dJointSetPRParam (joint[0],dParamHiStop, 0.0);
-      break;
-      
-    default:
-      dJointSetPRAnchor (joint[0], 
-			 1.1, 
-			 0.0,
-			 BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, -0.5);
-      dJointSetPRParam (joint[0],dParamHiStop, 1.5);
-      break;
-  }
-  
-  dJointSetPRAxis1(joint[0],1,0,0);
-  dJointSetPRAxis2(joint[0],0,0,1);
-// We position  the 2 body
-// The position of the rotoide joint is on the second body so it can rotate on itself
-// and move along the X axis.
-// With this anchor 
-// - A force in X will move only the body 2 inside the low and hi limit
-//   of the prismatic
-// - A force in Y will make the 2 bodies to rotate around on the plane
-  
-  box1_space = dSimpleSpaceCreate (space);
-  dSpaceSetCleanup (box1_space,0);
-  dSpaceAdd(box1_space,box1[0]);
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,400,300,&fn);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  return 0;
-}
-
-- 
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