From 2f8d7092bc2c9609fa98d6888106b96f38b22828 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Sun, 21 Oct 2007 08:36:32 +0000
Subject: libraries moved to opensim-libs, a new repository

---
 libraries/ode-0.9/ode/demo/demo_trimesh.cpp | 537 ----------------------------
 1 file changed, 537 deletions(-)
 delete mode 100644 libraries/ode-0.9/ode/demo/demo_trimesh.cpp

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

diff --git a/libraries/ode-0.9/ode/demo/demo_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_trimesh.cpp
deleted file mode 100644
index f87ff0b..0000000
--- a/libraries/ode-0.9/ode/demo/demo_trimesh.cpp
+++ /dev/null
@@ -1,537 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh test by Erwin de Vries
-
-#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
-#define dsDrawLine dsDrawLineD
-#define dsDrawTriangle dsDrawTriangleD
-#endif
-
-
-// some constants
-
-#define NUM 200			// max number of objects
-#define DENSITY (5.0)		// density of all objects
-#define GPB 3			// maximum number of geometries per body
-#define MAX_CONTACTS 40		// maximum number of contact points per body
-
-
-// dynamics and collision objects
-
-struct MyObject {
-  dBodyID body;			// the body
-  dGeomID geom[GPB];		// geometries representing this body
-};
-
-static int num=0;		// number of objects in simulation
-static int nextobj=0;		// next object to recycle if num==NUM
-static dWorldID world;
-static dSpaceID space;
-static MyObject obj[NUM];
-static dJointGroupID contactgroup;
-static int selected = -1;	// selected object
-static int show_aabb = 0;	// show geom AABBs?
-static int show_contacts = 0;	// show contact points?
-static int random_pos = 1;	// drop objects from random position?
-
-#define VertexCount 5
-#define IndexCount 12
-
-static dVector3 Size;
-static dVector3 Vertices[VertexCount];
-static int Indices[IndexCount];
-
-static dGeomID TriMesh;
-static dGeomID Ray;
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i;
-  // if (o1->body && o2->body) return;
-
-  // exit without doing anything if the two bodies are connected by a joint
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
-
-  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
-  for (i=0; i<MAX_CONTACTS; i++) {
-    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
-    contact[i].surface.mu = dInfinity;
-    contact[i].surface.mu2 = 0;
-    contact[i].surface.bounce = 0.1;
-    contact[i].surface.bounce_vel = 0.1;
-    contact[i].surface.soft_cfm = 0.01;
-  }
-  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
-			   sizeof(dContact))) {
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    const dReal ss[3] = {0.02,0.02,0.02};
-    for (i=0; i<numc; i++) {
-		if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
-			dMatrix3 Rotation;
-			dRSetIdentity(Rotation);
-			dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
-			
-			dVector3 End;
-			End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
-			End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
-			End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
-			End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
-			
-			dsDrawLine(contact[i].geom.pos, End);
-			continue;
-		}
-		
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-      dJointAttach (c,b1,b2);
-      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
-  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("To drop another object, press:\n");
-  printf ("   b for box.\n");
-  printf ("   s for sphere.\n");
-  printf ("   c for cylinder.\n");
-  printf ("   x for a composite object.\n");
-  printf ("To select an object, press space.\n");
-  printf ("To disable the selected object, press d.\n");
-  printf ("To enable the selected object, press e.\n");
-  printf ("To toggle showing the geom AABBs, press a.\n");
-  printf ("To toggle showing the contact points, press t.\n");
-  printf ("To toggle dropping from random position/orientation, press r.\n");
-}
-
-
-char locase (char c)
-{
-  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
-  else return c;
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  int i,j,k;
-  dReal sides[3];
-  dMass m;
-
-  cmd = locase (cmd);
-  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
-      /* || cmd == 'l' */) {
-    if (num < NUM) {
-      i = num;
-      num++;
-    }
-    else {
-      i = nextobj;
-      nextobj++;
-      if (nextobj >= num) nextobj = 0;
-
-      // destroy the body and geoms for slot i
-      dBodyDestroy (obj[i].body);
-      for (k=0; k < GPB; k++) {
-	if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
-      }
-      memset (&obj[i],0,sizeof(obj[i]));
-    }
-
-    obj[i].body = dBodyCreate (world);
-    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
-
-    dMatrix3 R;
-    if (random_pos) {
-      dBodySetPosition (obj[i].body,
-			dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
-      dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-			  dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-    }
-    else {
-      dReal maxheight = 0;
-      for (k=0; k<num; k++) {
-	const dReal *pos = dBodyGetPosition (obj[k].body);
-	if (pos[2] > maxheight) maxheight = pos[2];
-      }
-      dBodySetPosition (obj[i].body, 0,0,maxheight+1);
-      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
-    }
-    dBodySetRotation (obj[i].body,R);
-    dBodySetData (obj[i].body,(void*)(size_t)i);
-
-    if (cmd == 'b') {
-      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
-      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
-    }
-    else if (cmd == 'c') {
-      sides[0] *= 0.5;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-/*
-    // cylinder option not yet implemented
-    else if (cmd == 'l') {
-      sides[1] *= 0.5;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
-    }
-*/
-    else if (cmd == 's') {
-      sides[0] *= 0.5;
-      dMassSetSphere (&m,DENSITY,sides[0]);
-      obj[i].geom[0] = dCreateSphere (space,sides[0]);
-    }
-    else if (cmd == 'x') {
-      dGeomID g2[GPB];		// encapsulated geometries
-      dReal dpos[GPB][3];	// delta-positions for encapsulated geometries
-
-      // start accumulating masses for the encapsulated geometries
-      dMass m2;
-      dMassSetZero (&m);
-
-      // set random delta positions
-      for (j=0; j<GPB; j++) {
-	for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
-      }
-
-      for (k=0; k<GPB; k++) {
-	obj[i].geom[k] = dCreateGeomTransform (space);
-	dGeomTransformSetCleanup (obj[i].geom[k],1);
-	if (k==0) {
-	  dReal radius = dRandReal()*0.25+0.05;
-	  g2[k] = dCreateSphere (0,radius);
-	  dMassSetSphere (&m2,DENSITY,radius);
-	}
-	else if (k==1) {
-	  g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
-	  dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
-	}
-	else {
-	  dReal radius = dRandReal()*0.1+0.05;
-	  dReal length = dRandReal()*1.0+0.1;
-	  g2[k] = dCreateCapsule (0,radius,length);
-	  dMassSetCapsule (&m2,DENSITY,3,radius,length);
-	}
-	dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
-
-	// set the transformation (adjust the mass too)
-	dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
-	dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-	dMatrix3 Rtx;
-	dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-			    dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-	dGeomSetRotation (g2[k],Rtx);
-	dMassRotate (&m2,Rtx);
-
-	// add to the total mass
-	dMassAdd (&m,&m2);
-      }
-
-      // move all encapsulated objects so that the center of mass is (0,0,0)
-      for (k=0; k<2; k++) {
-	dGeomSetPosition (g2[k],
-			  dpos[k][0]-m.c[0],
-			  dpos[k][1]-m.c[1],
-			  dpos[k][2]-m.c[2]);
-      }
-      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-    }
-
-    for (k=0; k < GPB; k++) {
-      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
-    }
-
-    dBodySetMass (obj[i].body,&m);
-  }
-
-  if (cmd == ' ') {
-    selected++;
-    if (selected >= num) selected = 0;
-    if (selected < 0) selected = 0;
-  }
-  else if (cmd == 'd' && selected >= 0 && selected < num) {
-    dBodyDisable (obj[selected].body);
-  }
-  else if (cmd == 'e' && selected >= 0 && selected < num) {
-    dBodyEnable (obj[selected].body);
-  }
-  else if (cmd == 'a') {
-    show_aabb ^= 1;
-  }
-  else if (cmd == 't') {
-    show_contacts ^= 1;
-  }
-  else if (cmd == 'r') {
-    random_pos ^= 1;
-  }
-}
-
-
-// draw a geom
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
-{
-  if (!g) return;
-  if (!pos) pos = dGeomGetPosition (g);
-  if (!R) R = dGeomGetRotation (g);
-
-  int type = dGeomGetClass (g);
-  if (type == dBoxClass) {
-    dVector3 sides;
-    dGeomBoxGetLengths (g,sides);
-    dsDrawBox (pos,R,sides);
-  }
-  else if (type == dSphereClass) {
-    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
-  }
-  else if (type == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (pos,R,length,radius);
-  }
-/*
-  // cylinder option not yet implemented
-  else if (type == dCylinderClass) {
-    dReal radius,length;
-    dGeomCylinderGetParams (g,&radius,&length);
-    dsDrawCylinder (pos,R,length,radius);
-  }
-*/
-  else if (type == dGeomTransformClass) {
-    dGeomID g2 = dGeomTransformGetGeom (g);
-    const dReal *pos2 = dGeomGetPosition (g2);
-    const dReal *R2 = dGeomGetRotation (g2);
-    dVector3 actual_pos;
-    dMatrix3 actual_R;
-    dMULTIPLY0_331 (actual_pos,R,pos2);
-    actual_pos[0] += pos[0];
-    actual_pos[1] += pos[1];
-    actual_pos[2] += pos[2];
-    dMULTIPLY0_333 (actual_R,R,R2);
-    drawGeom (g2,actual_pos,actual_R,0);
-  }
-
-  if (show_aabb) {
-    // draw the bounding box for this geom
-    dReal aabb[6];
-    dGeomGetAABB (g,aabb);
-    dVector3 bbpos;
-    for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-    dVector3 bbsides;
-    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    dsSetColorAlpha (1,0,0,0.5);
-    dsDrawBox (bbpos,RI,bbsides);
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dsSetColor (0,0,2);
-  dSpaceCollide (space,0,&nearCallback);
-  if (!pause) dWorldStep (world,0.05);
-  //if (!pause) dWorldStepFast (world,0.05, 1);
-
-  // remove all contact joints
-  dJointGroupEmpty (contactgroup);
-
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (int i=0; i<num; i++) {
-    for (int j=0; j < GPB; j++) {
-      if (i==selected) {
-	dsSetColor (0,0.7,1);
-      }
-      else if (! dBodyIsEnabled (obj[i].body)) {
-	dsSetColor (1,0,0);
-      }
-      else {
-	dsSetColor (1,1,0);
-      }
-      drawGeom (obj[i].geom[j],0,0,show_aabb);
-    }
-  }
-
-  /*{
-    for (int i = 1; i < IndexCount; i++) {
-      dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]);
-    }
-  }*/
-
-  {const dReal* Pos = dGeomGetPosition(TriMesh);
-  const dReal* Rot = dGeomGetRotation(TriMesh);
-
-  {for (int i = 0; i < IndexCount / 3; i++){
-    const dVector3& v0 = Vertices[Indices[i * 3 + 0]];
-	const dVector3& v1 = Vertices[Indices[i * 3 + 1]];
-	const dVector3& v2 = Vertices[Indices[i * 3 + 2]];
-	dsDrawTriangle(Pos, Rot, (dReal*)&v0, (dReal*)&v1, (dReal*)&v2, 0);
-  }}}
-
-  if (Ray){
-	  dVector3 Origin, Direction;
-	  dGeomRayGet(Ray, Origin, Direction);
-	  
-	  dReal Length = dGeomRayGetLength(Ray);
-	  
-	  dVector3 End;
-	  End[0] = Origin[0] + (Direction[0] * Length);
-	  End[1] = Origin[1] + (Direction[1] * Length);
-	  End[2] = Origin[2] + (Direction[2] * Length);
-	  End[3] = Origin[3] + (Direction[3] * Length);
-	  
-	  dsDrawLine(Origin, End);
-  }
-}
-
-
-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/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-  dInitODE();
-  world = dWorldCreate();
-
-  space = dSimpleSpaceCreate(0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  //dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-  
-  Size[0] = 5.0f;
-  Size[1] = 5.0f;
-  Size[2] = 2.5f;
-  
-  Vertices[0][0] = -Size[0];
-  Vertices[0][1] = -Size[1];
-  Vertices[0][2] = Size[2];
-  
-  Vertices[1][0] = Size[0];
-  Vertices[1][1] = -Size[1];
-  Vertices[1][2] = Size[2];
-  
-  Vertices[2][0] = Size[0];
-  Vertices[2][1] = Size[1];
-  Vertices[2][2] = Size[2];
-  
-  Vertices[3][0] = -Size[0];
-  Vertices[3][1] = Size[1];
-  Vertices[3][2] = Size[2];
-  
-  Vertices[4][0] = 0;
-  Vertices[4][1] = 0;
-  Vertices[4][2] = 0;
-  
-  Indices[0] = 0;
-  Indices[1] = 1;
-  Indices[2] = 4;
-  
-  Indices[3] = 1;
-  Indices[4] = 2;
-  Indices[5] = 4;
-  
-  Indices[6] = 2;
-  Indices[7] = 3;
-  Indices[8] = 4;
-  
-  Indices[9] = 3;
-  Indices[10] = 0;
-  Indices[11] = 4;
-
-  dTriMeshDataID Data = dGeomTriMeshDataCreate();
-
-  dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
-  
-  TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
-
-  //dGeomSetPosition(TriMesh, 0, 0, 1.0);
-  
-  Ray = dCreateRay(space, 0.9);
-  dVector3 Origin, Direction;
-  Origin[0] = 0.0;
-  Origin[1] = 0;
-  Origin[2] = 0.5;
-  Origin[3] = 0;
-  
-  Direction[0] = 0;
-  Direction[1] = 1.1f;
-  Direction[2] = -1;
-  Direction[3] = 0;
-  dNormalize3(Direction);
-  
-  dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-- 
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