1 files changed, 0 insertions, 148 deletions

diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt b/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt
deleted file mode 100644
index bca0e66..0000000
--- a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt
+++ /dev/null
@@ -1,148 +0,0 @@
-README for GeomTransformGroup by Tim Schmidt.
----------------------------------------------
-
-This is a patch to add the dGeomTransformGroup object to the list of geometry 
-objects.
-
-It should work with the cvs version of the ode library from 07/24/2002.
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-comment by russ smith: this code is easy to use with the rest of ODE.
-simply copy GeomTransformGroup.cpp to ode/src and copy GeomTransformGroup.h
-to include/ode. then add GeomTransformGroup.cpp to the ODE_SRC variable
-in the makefile. rebuild, and you're done! of course i could have done all
-this for you, but i prefer to keep GeomTransformGroup separated from the
-rest of ODE for now while other issues with the collision system are
-resolved.
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-
-Description:
-
-The dGeomTransformGroup is an adaption of the TransformGroup known from 
-Java3D (and maybe other libraries with a similar scene graph representation).
-It can be used to build an arbitrarily structured tree of objects that are 
-each positioned relative to the particular parent node.
-
-If you have a plane for example, there is one root node associated with the 
-plane's body and another three transformgroups placed 'under' this node. One 
-with the fuselage (cappedcylinder) under it and two with the underlying wings 
-(flat boxes). And if you want to add engines, simply put them 'next to' the 
-wings under another two transformgroups.
-
-bodyTG ---> associated with dBody
-    |
-    +--fuselageTG
-    |   |
-    |   +--fuselageCylinder
-    |
-    +--leftwingTG
-    |   |
-    |   +--wingBox
-    |   |
-    |   +--leftengineTG
-    |         |
-    |         +--leftengineCylinder
-    | 
-    +--rightwingTG
-        |
-        +--wingBox
-        |
-        +--rightengineTG
-              |
-              +--rightengineCylinder
-
-This is a method to easily compose objects without the necessity of always 
-calculating global coordinates. But apart from this there is something else 
-that makes dGeomTransformGroups very valuable.
-
-Maybe you remember that some users reported the problem of acquiring the 
-correct bodies to be attached by a contactjoint in the nearCallback when 
-using dGeomGroups and dGeomTransforms at the same time. This results from the 
-fact that dGeomGroups are not associated with bodies while all other 
-geometries are.
-
-So, as you can see in the nearCallback of the the test_buggy demo you have to 
-attach the contactjoint with the bodies that you get from the geometries that 
-are stored in the contact struct (-> dGeomGetBody(contacts[i].geom.g1)). 
-Normally you would do this by asking o1 and o2 directly with dGeomGetBody(o1) 
-and dGeomGetBody(o2) respectively.
-
-As a first approach you can overcome that problem by testing o1 and o2 if 
-they are groups or not to find out how to get the corresponding bodies.
-
-However this will fail if you want grouped transforms that are constructed 
-out of dGeomTransforms encapsulated in a dGeomGroup. According to the test 
-you use contacts[i].geom.g1 to get the right body. Unfortunately g1 is 
-encapsulated in a transform and therefore not attached to any body. In this 
-case the dGeomTransform 'in the middle' would have been the right object to 
-be asked for the body.
-
-You may now conclude that it is a good idea to unwrap the group encapsulated 
-geoms at the beginning of the nearcallback and use dGeomGetBody(o1) 
-consistently. But keep in mind that this also means not to invoke 
-dCollide(..) on groups at all and therefore not to expoit the capability of 
-dGeomGroups to speed up collision detection by the creation of bounding boxes 
-around the encapsulated geometry.
-
-Everything becomes even worse if you create a dGeomTransform that contains a 
-dGeomGroup of geoms. The function that cares about the collision of 
-transforms with other objects uses the position and rotation of the 
-respective encapsulated object to compute its final position and orientation. 
-Unfortunately dGeomGroups do not have a position and rotation, so the result 
-will not be what you have expected.
-
-Here the dGeomTransformGroups comes into operation, because it combines the 
-advantages and capabilities of the dGeomGroup and the dGeomTransform.
-And as an effect of synergy it is now even possible to set the position of a 
-group of geoms with one single command.
-Even nested encapsulations of dGeomTransformGroups in dGeomTransformGroups 
-should be possible (to be honest, I have not tried that so far ;-) ).
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-API:
-
-dGeomID dCreateGeomTransformGroup (dSpaceID space);
-  - create a GeomTransformGroup 
-    
-void dGeomTransformGroupAddGeom    (dGeomID tg, dGeomID obj);
-  - Comparable to dGeomTransformSetGeom or dGeomGroupAdd
-  - add objects to this group
-   
-void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj);
-  - remove objects from this group
-
-void dGeomTransformGroupSetRelativePosition
-            (dGeomID g, dReal x, dReal y, dReal z);
-void dGeomTransformGroupSetRelativeRotation
-            (dGeomID g, const dMatrix3 R);
-  - Comparable to setting the position and rotation of all the
-    dGeomTransform encapsulated geometry. The difference 
-    is that it is global with respect to this group and therefore
-    affects all geoms in this group.
-  - The relative position and rotation are attributes of the 
-    transformgroup, so the position and rotation of the individual
-    geoms are not changed 
-
-const dReal * dGeomTransformGroupGetRelativePosition (dGeomID g);
-const dReal * dGeomTransformGroupGetRelativeRotation (dGeomID g);
-  - get the relative position and rotation
-  
-dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i);
-  - Comparable to dGeomGroupGetGeom
-  - get a specific geom of the group
-  
-int dGeomTransformGroupGetNumGeoms (dGeomID tg);
-  - Comparable to dGeomGroupGetNumGeoms
-  - get the number of geoms in the group
-  
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-Tim Schmidt
-student of computer science
-University of Paderborn, Germany
-tisch@uni-paderborn.de