one more for the gipper

1 files changed, 125 insertions, 0 deletions

diff --git a/libraries/ode-0.9/drawstuff/dstest/dstest.cpp b/libraries/ode-0.9/drawstuff/dstest/dstest.cpp
new file mode 100644
index 0000000..27f042f
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/dstest/dstest.cpp
@@ -0,0 +1,125 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <stdio.h>
+#include <math.h>
+#include <drawstuff/drawstuff.h>
+
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+
+void start()
+{
+  // adjust the starting viewpoint a bit
+  float xyz[3],hpr[3];
+  dsGetViewpoint (xyz,hpr);
+  hpr[0] += 7;
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+void simLoop (int pause)
+{
+  float pos[3];
+  float R[12];
+  static float a = 0;
+
+  if (!pause) a += 0.02f;
+  if (a > (2*M_PI)) a -= (float) (2*M_PI);
+  float ca = (float) cos(a);
+  float sa = (float) sin(a);
+
+  dsSetTexture (DS_WOOD);
+
+  float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
+  pos[0] = -0.3f;
+  pos[1] = 0;
+  pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
+  R[0] = ca; R[1] = 0; R[2] = -sa;
+  R[4] = 0;  R[5] = 1; R[6] = 0;
+  R[8] = sa; R[9] = 0; R[10] = ca;
+  dsSetColor (1,0.8f,0.6f);
+  dsDrawSphere (pos,R,0.3f);
+
+  dsSetTexture (DS_NONE);
+
+  pos[0] = -0.2f;
+  pos[1] = 0.8f;
+  pos[2] = 0.4f;
+  R[0] = ca; R[1] = -sa; R[2] = 0;
+  R[4] = sa; R[5] = ca;  R[6] = 0;
+  R[8] = 0;  R[9] = 0;   R[10] = 1;
+  float sides[3] = {0.1f,0.4f,0.8f};
+  dsSetColor (0.6f,0.6f,1);
+  dsDrawBox (pos,R,sides);
+
+  dsSetTexture (DS_WOOD);
+
+  float r = 0.3f;                     // cylinder radius
+  float d = (float)cos(a*2) * 0.4f;
+  float cd = (float)cos(-d/r);
+  float sd = (float)sin(-d/r);
+  pos[0] = -0.2f;
+  pos[1] = -1 + d;
+  pos[2] = 0.3f;
+  R[0] = 0;   R[1] = 0;  R[2] = -1;
+  R[4] = -sd; R[5] = cd; R[6] =  0;
+  R[8] =  cd; R[9] = sd; R[10] = 0;
+  dsSetColor (0.4f,1,1);
+  dsDrawCylinder (pos,R,0.8f,r);
+
+  pos[0] = 0;
+  pos[1] = 0;
+  pos[2] = 0.2f;
+  R[0] = 0; R[1] = sa; R[2] = -ca;
+  R[4] = 0; R[5] = ca; R[6] = sa;
+  R[8] = 1; R[9] = 0;  R[10] = 0;
+  dsSetColor (1,0.9f,0.2f);
+  dsDrawCappedCylinder (pos,R,0.8f,0.2f);
+}
+
+
+void command (int cmd)
+{
+  dsPrint ("received command %d (`%c')\n",cmd,cmd);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = command;
+  fn.stop = 0;
+  fn.path_to_textures = 0;      // uses default
+
+  // run simulation
+  dsSimulationLoop (argc,argv,400,400,&fn);
+
+  return 0;
+}