1 files changed, 0 insertions, 1372 deletions

diff --git a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp b/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
deleted file mode 100644
index faa8b14..0000000
--- a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
+++ /dev/null
@@ -1,1372 +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.                     *
-
-
- *                                                                       *
-
-
- *************************************************************************/
-
-
-
-
-
-#include <ode/ode.h>
-
-
-#include <dRay.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 dsDrawCappedCylinder dsDrawCappedCylinderD
-
-
-#endif
-
-
-
-
-
-
-
-
-// some constants
-
-
-
-
-
-#define NUM 20                  // max number of objects
-
-
-#define DENSITY (5.0)           // density of all objects
-
-
-#define GPB 3                   // maximum number of geometries 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 dGeomID* Rays;
-
-
-static int RayCount;
-
-
-
-
-
-// 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 && dAreConnected (b1,b2)) return;
-
-
-
-
-
-  dContact contact[32];                 // up to 3 contacts per box
-
-
-  for (i=0; i<32; i++) {
-
-
-    contact[i].surface.mode = dContactBounce; //dContactMu2;
-
-
-    contact[i].surface.mu = dInfinity;
-
-
-    contact[i].surface.mu2 = 0;
-
-
-    contact[i].surface.bounce = 0.5;
-
-
-    contact[i].surface.bounce_vel = 0.1;
-
-
-  }
-
-
-  if (int numc = dCollide (o1,o2,3,&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));
-
-
-                        continue;
-
-
-                }
-
-
-
-
-
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-
-
-      dJointAttach (c,b1,b2);
-
-
-       //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");
-
-
-}
-
-
-
-
-
-
-
-
-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') {
-
-
-    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;
-
-
-
-
-
-    dBodySetPosition (obj[i].body,
-
-
-                      dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
-
-
-    dMatrix3 R;
-
-
-    dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-
-
-                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-
-    dBodySetRotation (obj[i].body,R);
-
-
-    dBodySetData (obj[i].body,(void*) 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;
-
-
-      dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
-
-
-      obj[i].geom[0] = dCreateCCylinder (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<3; 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] = dCreateCCylinder (0,radius,length);
-
-
-          dMassSetCappedCylinder (&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);
-
-
-  }
-
-
-}
-
-
-
-
-
-
-
-
-// draw a geom
-
-
-
-
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
-
-
-{
-
-
-  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 == dCCylinderClass) {
-
-
-    dReal radius,length;
-
-
-    dGeomCCylinderGetParams (g,&radius,&length);
-
-
-    dsDrawCappedCylinder (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);
-
-
-  }
-
-
-}
-
-
-
-
-
-
-
-
-// simulation loop
-
-
-
-
-
-static void simLoop (int pause)
-
-
-{
-
-
-  dsSetColor (0,0,2);
-
-
-  dSpaceCollide (space,0,&nearCallback);
-
-
-  if (!pause) dWorldStep (world,0.05);
-
-
-
-
-
-  // remove all contact joints
-
-
-  dJointGroupEmpty (contactgroup);
-
-
-
-
-
-  dsSetColor (1,1,0);
-
-
-  dsSetTexture (DS_WOOD);
-
-
-  for (int i=0; i<num; i++) {
-
-
-    int color_changed = 0;
-
-
-    if (i==selected) {
-
-
-      dsSetColor (0,0.7,1);
-
-
-      color_changed = 1;
-
-
-    }
-
-
-    else if (! dBodyIsEnabled (obj[i].body)) {
-
-
-      dsSetColor (1,0,0);
-
-
-      color_changed = 1;
-
-
-    }
-
-
-    for (int j=0; j < GPB; j++) drawGeom (obj[i].geom[j],0,0);
-
-
-    if (color_changed) dsSetColor (1,1,0);
-
-
-  }
-
-
-
-
-
-  {for (int i = 0; i < RayCount; i++){
-
-
-          dVector3 Origin, Direction;
-
-
-          dGeomRayGet(Rays[i], Origin, Direction);
-
-
-  
-
-
-          dReal Length = dGeomRayGetLength(Rays[i]);
-
-
-
-
-
-          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
-
-
-
-
-
-  world = dWorldCreate();
-
-
-  space = dHashSpaceCreate();
-
-
-  contactgroup = dJointGroupCreate (0);
-
-
-  dWorldSetGravity (world,0,0,-0.5);
-
-
-  dWorldSetCFM (world,1e-5);
-
-
-  dCreatePlane (space,0,0,1,0);
-
-
-  memset (obj,0,sizeof(obj));
-
-
-
-
-
-  dVector3 Origin, Direction;
-
-
-  
-
-
-  RayCount = 5;
-
-
-  Rays = new dGeomID[RayCount];
-
-
-
-
-
-  /* Ray 0 */
-
-
-  Origin[0] = 1;
-
-
-  Origin[1] = 1;
-
-
-  Origin[2] = 1.5;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.0f;
-
-
-  Direction[1] = 0.0f;
-
-
-  Direction[2] = -1;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[0] = dGeomCreateRay(space, 5.0f);
-
-
-  dGeomRaySet(Rays[0], Origin, Direction);
-
-
-
-
-
-  /* Ray 1 */
-
-
-  Origin[0] = 0;
-
-
-  Origin[1] = 10;
-
-
-  Origin[2] = 0.25;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.0f;
-
-
-  Direction[1] = -1.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[1] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[1], Origin, Direction);
-
-
-
-
-
-  /* Ray 2 */
-
-
-  Origin[0] = -10;
-
-
-  Origin[1] = 0;
-
-
-  Origin[2] = 0.20;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 1.0f;
-
-
-  Direction[1] = 0.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[2] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[2], Origin, Direction);
-
-
-
-
-
-  /* Ray 3 */
-
-
-  Origin[0] = -9;
-
-
-  Origin[1] = 11;
-
-
-  Origin[2] = 0.15;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 1.0f;
-
-
-  Direction[1] = -1.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[3] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[3], Origin, Direction);
-
-
-
-
-
-  /* Ray 4 */
-
-
-  Origin[0] = -0.1;
-
-
-  Origin[1] = 0.3;
-
-
-  Origin[2] = 0.30;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.3f;
-
-
-  Direction[1] = 0.5f;
-
-
-  Direction[2] = 1.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  Rays[4] = dGeomCreateRay(space, 5.0f);
-
-
-  dGeomRaySet(Rays[4], Origin, Direction);
-
-
-
-
-
-  // run simulation
-
-
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-
-
-
-
-  dJointGroupDestroy (contactgroup);
-
-
-  dSpaceDestroy (space);
-
-
-  dWorldDestroy (world);
-
-
-
-
-
-  return 0;
-
-
-}
-
-