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-rw-r--r--libraries/ode-0.9/drawstuff/Makefile.am1
-rw-r--r--libraries/ode-0.9/drawstuff/Makefile.in488
-rw-r--r--libraries/ode-0.9/drawstuff/dstest/Makefile.am13
-rw-r--r--libraries/ode-0.9/drawstuff/dstest/Makefile.in446
-rw-r--r--libraries/ode-0.9/drawstuff/dstest/dstest.cpp125
-rw-r--r--libraries/ode-0.9/drawstuff/src/Makefile.am21
-rw-r--r--libraries/ode-0.9/drawstuff/src/Makefile.in507
-rw-r--r--libraries/ode-0.9/drawstuff/src/drawstuff.cpp1597
-rw-r--r--libraries/ode-0.9/drawstuff/src/internal.h50
-rw-r--r--libraries/ode-0.9/drawstuff/src/osx.cpp542
-rw-r--r--libraries/ode-0.9/drawstuff/src/resource.h28
-rw-r--r--libraries/ode-0.9/drawstuff/src/resources.rc153
-rw-r--r--libraries/ode-0.9/drawstuff/src/windows.cpp527
-rw-r--r--libraries/ode-0.9/drawstuff/src/x11.cpp418
-rw-r--r--libraries/ode-0.9/drawstuff/textures/ground.ppm6
-rw-r--r--libraries/ode-0.9/drawstuff/textures/sky.ppm5
-rw-r--r--libraries/ode-0.9/drawstuff/textures/wood.ppm5
17 files changed, 4932 insertions, 0 deletions
diff --git a/libraries/ode-0.9/drawstuff/Makefile.am b/libraries/ode-0.9/drawstuff/Makefile.am
new file mode 100644
index 0000000..2993d0b
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/Makefile.am
@@ -0,0 +1 @@
SUBDIRS = src dstest \ No newline at end of file
diff --git a/libraries/ode-0.9/drawstuff/Makefile.in b/libraries/ode-0.9/drawstuff/Makefile.in
new file mode 100644
index 0000000..974102b
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/Makefile.in
@@ -0,0 +1,488 @@
1# Makefile.in generated by automake 1.10 from Makefile.am.
2# @configure_input@
3
4# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
5# 2003, 2004, 2005, 2006 Free Software Foundation, Inc.
6# This Makefile.in is free software; the Free Software Foundation
7# gives unlimited permission to copy and/or distribute it,
8# with or without modifications, as long as this notice is preserved.
9
10# This program is distributed in the hope that it will be useful,
11# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
12# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
13# PARTICULAR PURPOSE.
14
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181
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213# This directory's subdirectories are mostly independent; you can cd
214# into them and run `make' without going through this Makefile.
215# To change the values of `make' variables: instead of editing Makefiles,
216# (1) if the variable is set in `config.status', edit `config.status'
217# (which will cause the Makefiles to be regenerated when you run `make');
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diff --git a/libraries/ode-0.9/drawstuff/dstest/Makefile.am b/libraries/ode-0.9/drawstuff/dstest/Makefile.am
new file mode 100644
index 0000000..9d74664
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/dstest/Makefile.am
@@ -0,0 +1,13 @@
1noinst_PROGRAMS= dstest
2dstest_CXXFLAGS = -I$(top_srcdir)/include -I$(top_builddir)
3
4dstest_SOURCES= dstest.cpp
5dstest_DEPENDENCIES=$(top_builddir)/drawstuff/src/libdrawstuff.a
6dstest_LDFLAGS = -L$(top_builddir)/drawstuff/src
7dstest_LDADD=-ldrawstuff @LDFLAGS@ @GL_LIBS@ @LIBS@
8if WIN32
9dstest_DEPENDENCIES+=resources.o
10resources.o: ../src/resources.rc ../src/resource.h
11 @WINDRES@ ../src/resources.rc -o resources.o
12dstest_LDADD+= resources.o
13endif
diff --git a/libraries/ode-0.9/drawstuff/dstest/Makefile.in b/libraries/ode-0.9/drawstuff/dstest/Makefile.in
new file mode 100644
index 0000000..0b7aed3
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/dstest/Makefile.in
@@ -0,0 +1,446 @@
1# Makefile.in generated by automake 1.10 from Makefile.am.
2# @configure_input@
3
4# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
5# 2003, 2004, 2005, 2006 Free Software Foundation, Inc.
6# This Makefile.in is free software; the Free Software Foundation
7# gives unlimited permission to copy and/or distribute it,
8# with or without modifications, as long as this notice is preserved.
9
10# This program is distributed in the hope that it will be useful,
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201 && exit 0; \
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228dstest$(EXEEXT): $(dstest_OBJECTS) $(dstest_DEPENDENCIES)
229 @rm -f dstest$(EXEEXT)
230 $(dstest_LINK) $(dstest_OBJECTS) $(dstest_LDADD) $(LIBS)
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232mostlyclean-compile:
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235distclean-compile:
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238@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/dstest-dstest.Po@am__quote@
239
240.cpp.o:
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242@am__fastdepCXX_TRUE@ mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
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246
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442@WIN32_TRUE@resources.o: ../src/resources.rc ../src/resource.h
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444# Tell versions [3.59,3.63) of GNU make to not export all variables.
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446.NOEXPORT:
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 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#include <stdio.h>
24#include <math.h>
25#include <drawstuff/drawstuff.h>
26
27
28#ifndef M_PI
29#define M_PI (3.14159265358979323846)
30#endif
31
32
33void start()
34{
35 // adjust the starting viewpoint a bit
36 float xyz[3],hpr[3];
37 dsGetViewpoint (xyz,hpr);
38 hpr[0] += 7;
39 dsSetViewpoint (xyz,hpr);
40}
41
42
43void simLoop (int pause)
44{
45 float pos[3];
46 float R[12];
47 static float a = 0;
48
49 if (!pause) a += 0.02f;
50 if (a > (2*M_PI)) a -= (float) (2*M_PI);
51 float ca = (float) cos(a);
52 float sa = (float) sin(a);
53
54 dsSetTexture (DS_WOOD);
55
56 float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
57 pos[0] = -0.3f;
58 pos[1] = 0;
59 pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
60 R[0] = ca; R[1] = 0; R[2] = -sa;
61 R[4] = 0; R[5] = 1; R[6] = 0;
62 R[8] = sa; R[9] = 0; R[10] = ca;
63 dsSetColor (1,0.8f,0.6f);
64 dsDrawSphere (pos,R,0.3f);
65
66 dsSetTexture (DS_NONE);
67
68 pos[0] = -0.2f;
69 pos[1] = 0.8f;
70 pos[2] = 0.4f;
71 R[0] = ca; R[1] = -sa; R[2] = 0;
72 R[4] = sa; R[5] = ca; R[6] = 0;
73 R[8] = 0; R[9] = 0; R[10] = 1;
74 float sides[3] = {0.1f,0.4f,0.8f};
75 dsSetColor (0.6f,0.6f,1);
76 dsDrawBox (pos,R,sides);
77
78 dsSetTexture (DS_WOOD);
79
80 float r = 0.3f; // cylinder radius
81 float d = (float)cos(a*2) * 0.4f;
82 float cd = (float)cos(-d/r);
83 float sd = (float)sin(-d/r);
84 pos[0] = -0.2f;
85 pos[1] = -1 + d;
86 pos[2] = 0.3f;
87 R[0] = 0; R[1] = 0; R[2] = -1;
88 R[4] = -sd; R[5] = cd; R[6] = 0;
89 R[8] = cd; R[9] = sd; R[10] = 0;
90 dsSetColor (0.4f,1,1);
91 dsDrawCylinder (pos,R,0.8f,r);
92
93 pos[0] = 0;
94 pos[1] = 0;
95 pos[2] = 0.2f;
96 R[0] = 0; R[1] = sa; R[2] = -ca;
97 R[4] = 0; R[5] = ca; R[6] = sa;
98 R[8] = 1; R[9] = 0; R[10] = 0;
99 dsSetColor (1,0.9f,0.2f);
100 dsDrawCappedCylinder (pos,R,0.8f,0.2f);
101}
102
103
104void command (int cmd)
105{
106 dsPrint ("received command %d (`%c')\n",cmd,cmd);
107}
108
109
110int main (int argc, char **argv)
111{
112 // setup pointers to callback functions
113 dsFunctions fn;
114 fn.version = DS_VERSION;
115 fn.start = &start;
116 fn.step = &simLoop;
117 fn.command = command;
118 fn.stop = 0;
119 fn.path_to_textures = 0; // uses default
120
121 // run simulation
122 dsSimulationLoop (argc,argv,400,400,&fn);
123
124 return 0;
125}
diff --git a/libraries/ode-0.9/drawstuff/src/Makefile.am b/libraries/ode-0.9/drawstuff/src/Makefile.am
new file mode 100644
index 0000000..ed9b2f5
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/Makefile.am
@@ -0,0 +1,21 @@
1# We build drawstuff as a non libtool static library manually
2# so it doesn't get installed when 'make install' is called,
3# drawstuff is meant as an aid for testing and not as a full
4# rendering library.
5
6noinst_LIBRARIES = libdrawstuff.a
7libdrawstuff_a_SOURCES = drawstuff.cpp internal.h
8libdrawstuff_a_CXXFLAGS = @ARCHFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
9
10# libdrawstuff_a_LIBADD = @GL_LIBS@
11
12if WIN32
13libdrawstuff_a_SOURCES+= windows.cpp
14endif
15if X11
16libdrawstuff_a_SOURCES+= x11.cpp
17endif
18if OSX
19libdrawstuff_a_SOURCES+= osx.cpp
20endif
21
diff --git a/libraries/ode-0.9/drawstuff/src/Makefile.in b/libraries/ode-0.9/drawstuff/src/Makefile.in
new file mode 100644
index 0000000..0e0f633
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/Makefile.in
@@ -0,0 +1,507 @@
1# Makefile.in generated by automake 1.10 from Makefile.am.
2# @configure_input@
3
4# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
5# 2003, 2004, 2005, 2006 Free Software Foundation, Inc.
6# This Makefile.in is free software; the Free Software Foundation
7# gives unlimited permission to copy and/or distribute it,
8# with or without modifications, as long as this notice is preserved.
9
10# This program is distributed in the hope that it will be useful,
11# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
12# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
13# PARTICULAR PURPOSE.
14
15@SET_MAKE@
16
17# We build drawstuff as a non libtool static library manually
18# so it doesn't get installed when 'make install' is called,
19# drawstuff is meant as an aid for testing and not as a full
20# rendering library.
21
22VPATH = @srcdir@
23pkgdatadir = $(datadir)/@PACKAGE@
24pkglibdir = $(libdir)/@PACKAGE@
25pkgincludedir = $(includedir)/@PACKAGE@
26am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
27install_sh_DATA = $(install_sh) -c -m 644
28install_sh_PROGRAM = $(install_sh) -c
29install_sh_SCRIPT = $(install_sh) -c
30INSTALL_HEADER = $(INSTALL_DATA)
31transform = $(program_transform_name)
32NORMAL_INSTALL = :
33PRE_INSTALL = :
34POST_INSTALL = :
35NORMAL_UNINSTALL = :
36PRE_UNINSTALL = :
37POST_UNINSTALL = :
38build_triplet = @build@
39host_triplet = @host@
40target_triplet = @target@
41
42# libdrawstuff_a_LIBADD = @GL_LIBS@
43@WIN32_TRUE@am__append_1 = windows.cpp
44@X11_TRUE@am__append_2 = x11.cpp
45@OSX_TRUE@am__append_3 = osx.cpp
46subdir = drawstuff/src
47DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
48ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
49am__aclocal_m4_deps = $(top_srcdir)/configure.in
50am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
51 $(ACLOCAL_M4)
52mkinstalldirs = $(install_sh) -d
53CONFIG_HEADER = $(top_builddir)/include/ode/config.h
54CONFIG_CLEAN_FILES =
55LIBRARIES = $(noinst_LIBRARIES)
56AR = ar
57ARFLAGS = cru
58libdrawstuff_a_AR = $(AR) $(ARFLAGS)
59libdrawstuff_a_LIBADD =
60am__libdrawstuff_a_SOURCES_DIST = drawstuff.cpp internal.h windows.cpp \
61 x11.cpp osx.cpp
62@WIN32_TRUE@am__objects_1 = libdrawstuff_a-windows.$(OBJEXT)
63@X11_TRUE@am__objects_2 = libdrawstuff_a-x11.$(OBJEXT)
64@OSX_TRUE@am__objects_3 = libdrawstuff_a-osx.$(OBJEXT)
65am_libdrawstuff_a_OBJECTS = libdrawstuff_a-drawstuff.$(OBJEXT) \
66 $(am__objects_1) $(am__objects_2) $(am__objects_3)
67libdrawstuff_a_OBJECTS = $(am_libdrawstuff_a_OBJECTS)
68DEFAULT_INCLUDES = -I. -I$(top_builddir)/include/ode@am__isrc@
69depcomp = $(SHELL) $(top_srcdir)/depcomp
70am__depfiles_maybe = depfiles
71CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
72 $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
73CXXLD = $(CXX)
74CXXLINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \
75 -o $@
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77 $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
78CCLD = $(CC)
79LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
80SOURCES = $(libdrawstuff_a_SOURCES)
81DIST_SOURCES = $(am__libdrawstuff_a_SOURCES_DIST)
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83CTAGS = ctags
84DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
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86ALLOCA = @ALLOCA@
87AMTAR = @AMTAR@
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89AUTOCONF = @AUTOCONF@
90AUTOHEADER = @AUTOHEADER@
91AUTOMAKE = @AUTOMAKE@
92AWK = @AWK@
93CC = @CC@
94CCDEPMODE = @CCDEPMODE@
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96CPP = @CPP@
97CPPFLAGS = @CPPFLAGS@
98CXX = @CXX@
99CXXDEPMODE = @CXXDEPMODE@
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101CYGPATH_W = @CYGPATH_W@
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105ECHO_C = @ECHO_C@
106ECHO_N = @ECHO_N@
107ECHO_T = @ECHO_T@
108EGREP = @EGREP@
109EXEEXT = @EXEEXT@
110GL_LIBS = @GL_LIBS@
111GREP = @GREP@
112INSTALL = @INSTALL@
113INSTALL_DATA = @INSTALL_DATA@
114INSTALL_PROGRAM = @INSTALL_PROGRAM@
115INSTALL_SCRIPT = @INSTALL_SCRIPT@
116INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
117LDFLAGS = @LDFLAGS@
118LIBOBJS = @LIBOBJS@
119LIBS = @LIBS@
120LTLIBOBJS = @LTLIBOBJS@
121MAKEINFO = @MAKEINFO@
122MKDIR_P = @MKDIR_P@
123OBJEXT = @OBJEXT@
124ODE_AGE = @ODE_AGE@
125ODE_CURRENT = @ODE_CURRENT@
126ODE_RELEASE = @ODE_RELEASE@
127ODE_REVISION = @ODE_REVISION@
128ODE_SONAME = @ODE_SONAME@
129PACKAGE = @PACKAGE@
130PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
131PACKAGE_NAME = @PACKAGE_NAME@
132PACKAGE_STRING = @PACKAGE_STRING@
133PACKAGE_TARNAME = @PACKAGE_TARNAME@
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135PATH_SEPARATOR = @PATH_SEPARATOR@
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137SET_MAKE = @SET_MAKE@
138SHARED_LDFLAGS = @SHARED_LDFLAGS@
139SHELL = @SHELL@
140STRIP = @STRIP@
141TOPDIR = @TOPDIR@
142VERSION = @VERSION@
143WINDRES = @WINDRES@
144XMKMF = @XMKMF@
145X_CFLAGS = @X_CFLAGS@
146X_EXTRA_LIBS = @X_EXTRA_LIBS@
147X_LIBS = @X_LIBS@
148X_PRE_LIBS = @X_PRE_LIBS@
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150abs_srcdir = @abs_srcdir@
151abs_top_builddir = @abs_top_builddir@
152abs_top_srcdir = @abs_top_srcdir@
153ac_ct_CC = @ac_ct_CC@
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164build_cpu = @build_cpu@
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167builddir = @builddir@
168datadir = @datadir@
169datarootdir = @datarootdir@
170docdir = @docdir@
171dvidir = @dvidir@
172exec_prefix = @exec_prefix@
173host = @host@
174host_alias = @host_alias@
175host_cpu = @host_cpu@
176host_os = @host_os@
177host_vendor = @host_vendor@
178htmldir = @htmldir@
179includedir = @includedir@
180infodir = @infodir@
181install_sh = @install_sh@
182libdir = @libdir@
183libexecdir = @libexecdir@
184localedir = @localedir@
185localstatedir = @localstatedir@
186mandir = @mandir@
187mkdir_p = @mkdir_p@
188oldincludedir = @oldincludedir@
189pdfdir = @pdfdir@
190prefix = @prefix@
191program_transform_name = @program_transform_name@
192psdir = @psdir@
193sbindir = @sbindir@
194sharedstatedir = @sharedstatedir@
195so_ext = @so_ext@
196srcdir = @srcdir@
197sysconfdir = @sysconfdir@
198target = @target@
199target_alias = @target_alias@
200target_cpu = @target_cpu@
201target_os = @target_os@
202target_vendor = @target_vendor@
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207 $(am__append_2) $(am__append_3)
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210
211.SUFFIXES:
212.SUFFIXES: .cpp .o .obj
213$(srcdir)/Makefile.in: $(srcdir)/Makefile.am $(am__configure_deps)
214 @for dep in $?; do \
215 case '$(am__configure_deps)' in \
216 *$$dep*) \
217 cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh \
218 && exit 0; \
219 exit 1;; \
220 esac; \
221 done; \
222 echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign drawstuff/src/Makefile'; \
223 cd $(top_srcdir) && \
224 $(AUTOMAKE) --foreign drawstuff/src/Makefile
225.PRECIOUS: Makefile
226Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
227 @case '$?' in \
228 *config.status*) \
229 cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
230 *) \
231 echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
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235$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
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248 $(RANLIB) libdrawstuff.a
249
250mostlyclean-compile:
251 -rm -f *.$(OBJEXT)
252
253distclean-compile:
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255
256@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/libdrawstuff_a-drawstuff.Po@am__quote@
257@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/libdrawstuff_a-osx.Po@am__quote@
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366 END { for (i in files) print i; }'`; \
367 test -z "$(CTAGS_ARGS)$$tags$$unique" \
368 || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
369 $$tags $$unique
370
371GTAGS:
372 here=`$(am__cd) $(top_builddir) && pwd` \
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374 && gtags -i $(GTAGS_ARGS) $$here
375
376distclean-tags:
377 -rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
378
379distdir: $(DISTFILES)
380 @srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
381 topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
382 list='$(DISTFILES)'; \
383 dist_files=`for file in $$list; do echo $$file; done | \
384 sed -e "s|^$$srcdirstrip/||;t" \
385 -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
386 case $$dist_files in \
387 */*) $(MKDIR_P) `echo "$$dist_files" | \
388 sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
389 sort -u` ;; \
390 esac; \
391 for file in $$dist_files; do \
392 if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
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394 dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
395 if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
396 cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
397 fi; \
398 cp -pR $$d/$$file $(distdir)$$dir || exit 1; \
399 else \
400 test -f $(distdir)/$$file \
401 || cp -p $$d/$$file $(distdir)/$$file \
402 || exit 1; \
403 fi; \
404 done
405check-am: all-am
406check: check-am
407all-am: Makefile $(LIBRARIES)
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410install-exec: install-exec-am
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414install-am: all-am
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417installcheck: installcheck-am
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422 echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
423mostlyclean-generic:
424
425clean-generic:
426
427distclean-generic:
428 -test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
429
430maintainer-clean-generic:
431 @echo "This command is intended for maintainers to use"
432 @echo "it deletes files that may require special tools to rebuild."
433clean: clean-am
434
435clean-am: clean-generic clean-noinstLIBRARIES mostlyclean-am
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437distclean: distclean-am
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442
443dvi: dvi-am
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504
505# Tell versions [3.59,3.63) of GNU make to not export all variables.
506# Otherwise a system limit (for SysV at least) may be exceeded.
507.NOEXPORT:
diff --git a/libraries/ode-0.9/drawstuff/src/drawstuff.cpp b/libraries/ode-0.9/drawstuff/src/drawstuff.cpp
new file mode 100644
index 0000000..f588266
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/drawstuff.cpp
@@ -0,0 +1,1597 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23/*
24
25simple graphics.
26
27the following command line flags can be used (typically under unix)
28 -notex Do not use any textures
29 -noshadow[s] Do not draw any shadows
30 -pause Start the simulation paused
31
32TODO
33----
34
35manage openGL state changes better
36
37*/
38
39#ifdef WIN32
40#include <windows.h>
41#endif
42
43#include <ode/config.h>
44#ifdef HAVE_APPLE_OPENGL_FRAMEWORK
45#include <OpenGL/gl.h>
46#include <OpenGL/glu.h>
47#else
48#include <GL/gl.h>
49#include <GL/glu.h>
50#endif
51
52#include "drawstuff/drawstuff.h"
53#include "internal.h"
54
55//***************************************************************************
56// misc
57
58#ifdef WIN32
59#define DEFAULT_PATH_TO_TEXTURES "..\\textures\\"
60#else
61#define DEFAULT_PATH_TO_TEXTURES "../textures/"
62#endif
63
64#ifndef M_PI
65#define M_PI (3.14159265358979323846)
66#endif
67
68// constants to convert degrees to radians and the reverse
69#define RAD_TO_DEG (180.0/M_PI)
70#define DEG_TO_RAD (M_PI/180.0)
71
72// light vector. LIGHTZ is implicitly 1
73#define LIGHTX (1.0f)
74#define LIGHTY (0.4f)
75
76// ground and sky
77#define SHADOW_INTENSITY (0.65f)
78#define GROUND_R (0.5f) // ground color for when there's no texture
79#define GROUND_G (0.5f)
80#define GROUND_B (0.3f)
81
82const float ground_scale = 1.0f/1.0f; // ground texture scale (1/size)
83const float ground_ofsx = 0.5; // offset of ground texture
84const float ground_ofsy = 0.5;
85const float sky_scale = 1.0f/4.0f; // sky texture scale (1/size)
86const float sky_height = 1.0f; // sky height above viewpoint
87
88//***************************************************************************
89// misc mathematics stuff
90
91#define dCROSS(a,op,b,c) \
92 (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
93 (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
94 (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
95
96
97inline float dDOT (const float *a, const float *b)
98 { return ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]); }
99
100
101static void normalizeVector3 (float v[3])
102{
103 float len = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
104 if (len <= 0.0f) {
105 v[0] = 1;
106 v[1] = 0;
107 v[2] = 0;
108 }
109 else {
110 len = 1.0f / (float)sqrt(len);
111 v[0] *= len;
112 v[1] *= len;
113 v[2] *= len;
114 }
115}
116
117//***************************************************************************
118// PPM image object
119
120typedef unsigned char byte;
121
122class Image {
123 int image_width,image_height;
124 byte *image_data;
125public:
126 Image (char *filename);
127 // load from PPM file
128 ~Image();
129 int width() { return image_width; }
130 int height() { return image_height; }
131 byte *data() { return image_data; }
132};
133
134
135// skip over whitespace and comments in a stream.
136
137static void skipWhiteSpace (char *filename, FILE *f)
138{
139 int c,d;
140 for(;;) {
141 c = fgetc(f);
142 if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
143
144 // skip comments
145 if (c == '#') {
146 do {
147 d = fgetc(f);
148 if (d==EOF) dsError ("unexpected end of file in \"%s\"",filename);
149 } while (d != '\n');
150 continue;
151 }
152
153 if (c > ' ') {
154 ungetc (c,f);
155 return;
156 }
157 }
158}
159
160
161// read a number from a stream, this return 0 if there is none (that's okay
162// because 0 is a bad value for all PPM numbers anyway).
163
164static int readNumber (char *filename, FILE *f)
165{
166 int c,n=0;
167 for(;;) {
168 c = fgetc(f);
169 if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
170 if (c >= '0' && c <= '9') n = n*10 + (c - '0');
171 else {
172 ungetc (c,f);
173 return n;
174 }
175 }
176}
177
178
179Image::Image (char *filename)
180{
181 FILE *f = fopen (filename,"rb");
182 if (!f) dsError ("Can't open image file `%s'",filename);
183
184 // read in header
185 if (fgetc(f) != 'P' || fgetc(f) != '6')
186 dsError ("image file \"%s\" is not a binary PPM (no P6 header)",filename);
187 skipWhiteSpace (filename,f);
188
189 // read in image parameters
190 image_width = readNumber (filename,f);
191 skipWhiteSpace (filename,f);
192 image_height = readNumber (filename,f);
193 skipWhiteSpace (filename,f);
194 int max_value = readNumber (filename,f);
195
196 // check values
197 if (image_width < 1 || image_height < 1)
198 dsError ("bad image file \"%s\"",filename);
199 if (max_value != 255)
200 dsError ("image file \"%s\" must have color range of 255",filename);
201
202 // read either nothing, LF (10), or CR,LF (13,10)
203 int c = fgetc(f);
204 if (c == 10) {
205 // LF
206 }
207 else if (c == 13) {
208 // CR
209 c = fgetc(f);
210 if (c != 10) ungetc (c,f);
211 }
212 else ungetc (c,f);
213
214 // read in rest of data
215 image_data = new byte [image_width*image_height*3];
216 if (fread (image_data,image_width*image_height*3,1,f) != 1)
217 dsError ("Can not read data from image file `%s'",filename);
218 fclose (f);
219}
220
221
222Image::~Image()
223{
224 delete[] image_data;
225}
226
227//***************************************************************************
228// Texture object.
229
230class Texture {
231 Image *image;
232 GLuint name;
233public:
234 Texture (char *filename);
235 ~Texture();
236 void bind (int modulate);
237};
238
239
240Texture::Texture (char *filename)
241{
242 image = new Image (filename);
243 glGenTextures (1,&name);
244 glBindTexture (GL_TEXTURE_2D,name);
245
246 // set pixel unpacking mode
247 glPixelStorei (GL_UNPACK_SWAP_BYTES, 0);
248 glPixelStorei (GL_UNPACK_ROW_LENGTH, 0);
249 glPixelStorei (GL_UNPACK_ALIGNMENT, 1);
250 glPixelStorei (GL_UNPACK_SKIP_ROWS, 0);
251 glPixelStorei (GL_UNPACK_SKIP_PIXELS, 0);
252
253 // glTexImage2D (GL_TEXTURE_2D, 0, 3, image->width(), image->height(), 0,
254 // GL_RGB, GL_UNSIGNED_BYTE, image->data());
255 gluBuild2DMipmaps (GL_TEXTURE_2D, 3, image->width(), image->height(),
256 GL_RGB, GL_UNSIGNED_BYTE, image->data());
257
258 // set texture parameters - will these also be bound to the texture???
259 glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
260 glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
261
262 glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
263 glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
264 GL_LINEAR_MIPMAP_LINEAR);
265
266 glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
267}
268
269
270Texture::~Texture()
271{
272 delete image;
273 glDeleteTextures (1,&name);
274}
275
276
277void Texture::bind (int modulate)
278{
279 glBindTexture (GL_TEXTURE_2D,name);
280 glTexEnvi (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE,
281 modulate ? GL_MODULATE : GL_DECAL);
282}
283
284//***************************************************************************
285// the current drawing state (for when the user's step function is drawing)
286
287static float color[4] = {0,0,0,0}; // current r,g,b,alpha color
288static int tnum = 0; // current texture number
289
290//***************************************************************************
291// OpenGL utility stuff
292
293static void setCamera (float x, float y, float z, float h, float p, float r)
294{
295 glMatrixMode (GL_MODELVIEW);
296 glLoadIdentity();
297 glRotatef (90, 0,0,1);
298 glRotatef (90, 0,1,0);
299 glRotatef (r, 1,0,0);
300 glRotatef (p, 0,1,0);
301 glRotatef (-h, 0,0,1);
302 glTranslatef (-x,-y,-z);
303}
304
305
306// sets the material color, not the light color
307
308static void setColor (float r, float g, float b, float alpha)
309{
310 GLfloat light_ambient[4],light_diffuse[4],light_specular[4];
311 light_ambient[0] = r*0.3f;
312 light_ambient[1] = g*0.3f;
313 light_ambient[2] = b*0.3f;
314 light_ambient[3] = alpha;
315 light_diffuse[0] = r*0.7f;
316 light_diffuse[1] = g*0.7f;
317 light_diffuse[2] = b*0.7f;
318 light_diffuse[3] = alpha;
319 light_specular[0] = r*0.2f;
320 light_specular[1] = g*0.2f;
321 light_specular[2] = b*0.2f;
322 light_specular[3] = alpha;
323 glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, light_ambient);
324 glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, light_diffuse);
325 glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, light_specular);
326 glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 5.0f);
327}
328
329
330static void setTransform (const float pos[3], const float R[12])
331{
332 GLfloat matrix[16];
333 matrix[0]=R[0];
334 matrix[1]=R[4];
335 matrix[2]=R[8];
336 matrix[3]=0;
337 matrix[4]=R[1];
338 matrix[5]=R[5];
339 matrix[6]=R[9];
340 matrix[7]=0;
341 matrix[8]=R[2];
342 matrix[9]=R[6];
343 matrix[10]=R[10];
344 matrix[11]=0;
345 matrix[12]=pos[0];
346 matrix[13]=pos[1];
347 matrix[14]=pos[2];
348 matrix[15]=1;
349 glPushMatrix();
350 glMultMatrixf (matrix);
351}
352static void setTransformD (const double pos[3], const double R[12])
353{
354 GLdouble matrix[16];
355 matrix[0]=R[0];
356 matrix[1]=R[4];
357 matrix[2]=R[8];
358 matrix[3]=0;
359 matrix[4]=R[1];
360 matrix[5]=R[5];
361 matrix[6]=R[9];
362 matrix[7]=0;
363 matrix[8]=R[2];
364 matrix[9]=R[6];
365 matrix[10]=R[10];
366 matrix[11]=0;
367 matrix[12]=pos[0];
368 matrix[13]=pos[1];
369 matrix[14]=pos[2];
370 matrix[15]=1;
371 glPushMatrix();
372 glMultMatrixd (matrix);
373}
374
375
376// set shadow projection transform
377
378static void setShadowTransform()
379{
380 GLfloat matrix[16];
381 for (int i=0; i<16; i++) matrix[i] = 0;
382 matrix[0]=1;
383 matrix[5]=1;
384 matrix[8]=-LIGHTX;
385 matrix[9]=-LIGHTY;
386 matrix[15]=1;
387 glPushMatrix();
388 glMultMatrixf (matrix);
389}
390
391static void drawConvex (float *_planes,unsigned int _planecount,
392 float *_points,
393 unsigned int _pointcount,
394 unsigned int *_polygons)
395{
396 unsigned int polyindex=0;
397 for(unsigned int i=0;i<_planecount;++i)
398 {
399 unsigned int pointcount=_polygons[polyindex];
400 polyindex++;
401 glBegin (GL_POLYGON);
402 glNormal3f(_planes[(i*4)+0],
403 _planes[(i*4)+1],
404 _planes[(i*4)+2]);
405 for(unsigned int j=0;j<pointcount;++j)
406 {
407 glVertex3f(_points[_polygons[polyindex]*3],
408 _points[(_polygons[polyindex]*3)+1],
409 _points[(_polygons[polyindex]*3)+2]);
410 polyindex++;
411 }
412 glEnd();
413 }
414}
415
416static void drawConvexD (double *_planes,unsigned int _planecount,
417 double *_points,
418 unsigned int _pointcount,
419 unsigned int *_polygons)
420{
421 unsigned int polyindex=0;
422 for(unsigned int i=0;i<_planecount;++i)
423 {
424 unsigned int pointcount=_polygons[polyindex];
425 polyindex++;
426 glBegin (GL_POLYGON);
427 glNormal3d(_planes[(i*4)+0],
428 _planes[(i*4)+1],
429 _planes[(i*4)+2]);
430 for(unsigned int j=0;j<pointcount;++j)
431 {
432 glVertex3d(_points[_polygons[polyindex]*3],
433 _points[(_polygons[polyindex]*3)+1],
434 _points[(_polygons[polyindex]*3)+2]);
435 polyindex++;
436 }
437 glEnd();
438 }
439}
440
441static void drawBox (const float sides[3])
442{
443 float lx = sides[0]*0.5f;
444 float ly = sides[1]*0.5f;
445 float lz = sides[2]*0.5f;
446
447 // sides
448 glBegin (GL_TRIANGLE_STRIP);
449 glNormal3f (-1,0,0);
450 glVertex3f (-lx,-ly,-lz);
451 glVertex3f (-lx,-ly,lz);
452 glVertex3f (-lx,ly,-lz);
453 glVertex3f (-lx,ly,lz);
454 glNormal3f (0,1,0);
455 glVertex3f (lx,ly,-lz);
456 glVertex3f (lx,ly,lz);
457 glNormal3f (1,0,0);
458 glVertex3f (lx,-ly,-lz);
459 glVertex3f (lx,-ly,lz);
460 glNormal3f (0,-1,0);
461 glVertex3f (-lx,-ly,-lz);
462 glVertex3f (-lx,-ly,lz);
463 glEnd();
464
465 // top face
466 glBegin (GL_TRIANGLE_FAN);
467 glNormal3f (0,0,1);
468 glVertex3f (-lx,-ly,lz);
469 glVertex3f (lx,-ly,lz);
470 glVertex3f (lx,ly,lz);
471 glVertex3f (-lx,ly,lz);
472 glEnd();
473
474 // bottom face
475 glBegin (GL_TRIANGLE_FAN);
476 glNormal3f (0,0,-1);
477 glVertex3f (-lx,-ly,-lz);
478 glVertex3f (-lx,ly,-lz);
479 glVertex3f (lx,ly,-lz);
480 glVertex3f (lx,-ly,-lz);
481 glEnd();
482}
483
484
485// This is recursively subdivides a triangular area (vertices p1,p2,p3) into
486// smaller triangles, and then draws the triangles. All triangle vertices are
487// normalized to a distance of 1.0 from the origin (p1,p2,p3 are assumed
488// to be already normalized). Note this is not super-fast because it draws
489// triangles rather than triangle strips.
490
491static void drawPatch (float p1[3], float p2[3], float p3[3], int level)
492{
493 int i;
494 if (level > 0) {
495 float q1[3],q2[3],q3[3]; // sub-vertices
496 for (i=0; i<3; i++) {
497 q1[i] = 0.5f*(p1[i]+p2[i]);
498 q2[i] = 0.5f*(p2[i]+p3[i]);
499 q3[i] = 0.5f*(p3[i]+p1[i]);
500 }
501 float length1 = (float)(1.0/sqrt(q1[0]*q1[0]+q1[1]*q1[1]+q1[2]*q1[2]));
502 float length2 = (float)(1.0/sqrt(q2[0]*q2[0]+q2[1]*q2[1]+q2[2]*q2[2]));
503 float length3 = (float)(1.0/sqrt(q3[0]*q3[0]+q3[1]*q3[1]+q3[2]*q3[2]));
504 for (i=0; i<3; i++) {
505 q1[i] *= length1;
506 q2[i] *= length2;
507 q3[i] *= length3;
508 }
509 drawPatch (p1,q1,q3,level-1);
510 drawPatch (q1,p2,q2,level-1);
511 drawPatch (q1,q2,q3,level-1);
512 drawPatch (q3,q2,p3,level-1);
513 }
514 else {
515 glNormal3f (p1[0],p1[1],p1[2]);
516 glVertex3f (p1[0],p1[1],p1[2]);
517 glNormal3f (p2[0],p2[1],p2[2]);
518 glVertex3f (p2[0],p2[1],p2[2]);
519 glNormal3f (p3[0],p3[1],p3[2]);
520 glVertex3f (p3[0],p3[1],p3[2]);
521 }
522}
523
524
525// draw a sphere of radius 1
526
527static int sphere_quality = 1;
528
529static void drawSphere()
530{
531 // icosahedron data for an icosahedron of radius 1.0
532# define ICX 0.525731112119133606f
533# define ICZ 0.850650808352039932f
534 static GLfloat idata[12][3] = {
535 {-ICX, 0, ICZ},
536 {ICX, 0, ICZ},
537 {-ICX, 0, -ICZ},
538 {ICX, 0, -ICZ},
539 {0, ICZ, ICX},
540 {0, ICZ, -ICX},
541 {0, -ICZ, ICX},
542 {0, -ICZ, -ICX},
543 {ICZ, ICX, 0},
544 {-ICZ, ICX, 0},
545 {ICZ, -ICX, 0},
546 {-ICZ, -ICX, 0}
547 };
548
549 static int index[20][3] = {
550 {0, 4, 1}, {0, 9, 4},
551 {9, 5, 4}, {4, 5, 8},
552 {4, 8, 1}, {8, 10, 1},
553 {8, 3, 10}, {5, 3, 8},
554 {5, 2, 3}, {2, 7, 3},
555 {7, 10, 3}, {7, 6, 10},
556 {7, 11, 6}, {11, 0, 6},
557 {0, 1, 6}, {6, 1, 10},
558 {9, 0, 11}, {9, 11, 2},
559 {9, 2, 5}, {7, 2, 11},
560 };
561
562 static GLuint listnum = 0;
563 if (listnum==0) {
564 listnum = glGenLists (1);
565 glNewList (listnum,GL_COMPILE);
566 glBegin (GL_TRIANGLES);
567 for (int i=0; i<20; i++) {
568 drawPatch (&idata[index[i][2]][0],&idata[index[i][1]][0],
569 &idata[index[i][0]][0],sphere_quality);
570 }
571 glEnd();
572 glEndList();
573 }
574 glCallList (listnum);
575}
576
577
578static void drawSphereShadow (float px, float py, float pz, float radius)
579{
580 // calculate shadow constants based on light vector
581 static int init=0;
582 static float len2,len1,scale;
583 if (!init) {
584 len2 = LIGHTX*LIGHTX + LIGHTY*LIGHTY;
585 len1 = 1.0f/(float)sqrt(len2);
586 scale = (float) sqrt(len2 + 1);
587 init = 1;
588 }
589
590 // map sphere center to ground plane based on light vector
591 px -= LIGHTX*pz;
592 py -= LIGHTY*pz;
593
594 const float kx = 0.96592582628907f;
595 const float ky = 0.25881904510252f;
596 float x=radius, y=0;
597
598 glBegin (GL_TRIANGLE_FAN);
599 for (int i=0; i<24; i++) {
600 // for all points on circle, scale to elongated rotated shadow and draw
601 float x2 = (LIGHTX*x*scale - LIGHTY*y)*len1 + px;
602 float y2 = (LIGHTY*x*scale + LIGHTX*y)*len1 + py;
603 glTexCoord2f (x2*ground_scale+ground_ofsx,y2*ground_scale+ground_ofsy);
604 glVertex3f (x2,y2,0);
605
606 // rotate [x,y] vector
607 float xtmp = kx*x - ky*y;
608 y = ky*x + kx*y;
609 x = xtmp;
610 }
611 glEnd();
612}
613
614
615static void drawTriangle (const float *v0, const float *v1, const float *v2, int solid)
616{
617 float u[3],v[3],normal[3];
618 u[0] = v1[0] - v0[0];
619 u[1] = v1[1] - v0[1];
620 u[2] = v1[2] - v0[2];
621 v[0] = v2[0] - v0[0];
622 v[1] = v2[1] - v0[1];
623 v[2] = v2[2] - v0[2];
624 dCROSS (normal,=,u,v);
625 normalizeVector3 (normal);
626
627 glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
628 glNormal3fv (normal);
629 glVertex3fv (v0);
630 glVertex3fv (v1);
631 glVertex3fv (v2);
632 glEnd();
633}
634
635static void drawTriangleD (const double *v0, const double *v1, const double *v2, int solid)
636{
637 float u[3],v[3],normal[3];
638 u[0] = float( v1[0] - v0[0] );
639 u[1] = float( v1[1] - v0[1] );
640 u[2] = float( v1[2] - v0[2] );
641 v[0] = float( v2[0] - v0[0] );
642 v[1] = float( v2[1] - v0[1] );
643 v[2] = float( v2[2] - v0[2] );
644 dCROSS (normal,=,u,v);
645 normalizeVector3 (normal);
646
647 glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
648 glNormal3fv (normal);
649 glVertex3dv (v0);
650 glVertex3dv (v1);
651 glVertex3dv (v2);
652 glEnd();
653}
654
655
656// draw a capped cylinder of length l and radius r, aligned along the x axis
657
658static int capped_cylinder_quality = 3;
659
660static void drawCapsule (float l, float r)
661{
662 int i,j;
663 float tmp,nx,ny,nz,start_nx,start_ny,a,ca,sa;
664 // number of sides to the cylinder (divisible by 4):
665 const int n = capped_cylinder_quality*4;
666
667 l *= 0.5;
668 a = float(M_PI*2.0)/float(n);
669 sa = (float) sin(a);
670 ca = (float) cos(a);
671
672 // draw cylinder body
673 ny=1; nz=0; // normal vector = (0,ny,nz)
674 glBegin (GL_TRIANGLE_STRIP);
675 for (i=0; i<=n; i++) {
676 glNormal3d (ny,nz,0);
677 glVertex3d (ny*r,nz*r,l);
678 glNormal3d (ny,nz,0);
679 glVertex3d (ny*r,nz*r,-l);
680 // rotate ny,nz
681 tmp = ca*ny - sa*nz;
682 nz = sa*ny + ca*nz;
683 ny = tmp;
684 }
685 glEnd();
686
687 // draw first cylinder cap
688 start_nx = 0;
689 start_ny = 1;
690 for (j=0; j<(n/4); j++) {
691 // get start_n2 = rotated start_n
692 float start_nx2 = ca*start_nx + sa*start_ny;
693 float start_ny2 = -sa*start_nx + ca*start_ny;
694 // get n=start_n and n2=start_n2
695 nx = start_nx; ny = start_ny; nz = 0;
696 float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
697 glBegin (GL_TRIANGLE_STRIP);
698 for (i=0; i<=n; i++) {
699 glNormal3d (ny2,nz2,nx2);
700 glVertex3d (ny2*r,nz2*r,l+nx2*r);
701 glNormal3d (ny,nz,nx);
702 glVertex3d (ny*r,nz*r,l+nx*r);
703 // rotate n,n2
704 tmp = ca*ny - sa*nz;
705 nz = sa*ny + ca*nz;
706 ny = tmp;
707 tmp = ca*ny2- sa*nz2;
708 nz2 = sa*ny2 + ca*nz2;
709 ny2 = tmp;
710 }
711 glEnd();
712 start_nx = start_nx2;
713 start_ny = start_ny2;
714 }
715
716 // draw second cylinder cap
717 start_nx = 0;
718 start_ny = 1;
719 for (j=0; j<(n/4); j++) {
720 // get start_n2 = rotated start_n
721 float start_nx2 = ca*start_nx - sa*start_ny;
722 float start_ny2 = sa*start_nx + ca*start_ny;
723 // get n=start_n and n2=start_n2
724 nx = start_nx; ny = start_ny; nz = 0;
725 float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
726 glBegin (GL_TRIANGLE_STRIP);
727 for (i=0; i<=n; i++) {
728 glNormal3d (ny,nz,nx);
729 glVertex3d (ny*r,nz*r,-l+nx*r);
730 glNormal3d (ny2,nz2,nx2);
731 glVertex3d (ny2*r,nz2*r,-l+nx2*r);
732 // rotate n,n2
733 tmp = ca*ny - sa*nz;
734 nz = sa*ny + ca*nz;
735 ny = tmp;
736 tmp = ca*ny2- sa*nz2;
737 nz2 = sa*ny2 + ca*nz2;
738 ny2 = tmp;
739 }
740 glEnd();
741 start_nx = start_nx2;
742 start_ny = start_ny2;
743 }
744
745 glPopMatrix();
746}
747
748
749// draw a cylinder of length l and radius r, aligned along the z axis
750
751static void drawCylinder (float l, float r, float zoffset)
752{
753 int i;
754 float tmp,ny,nz,a,ca,sa;
755 const int n = 24; // number of sides to the cylinder (divisible by 4)
756
757 l *= 0.5;
758 a = float(M_PI*2.0)/float(n);
759 sa = (float) sin(a);
760 ca = (float) cos(a);
761
762 // draw cylinder body
763 ny=1; nz=0; // normal vector = (0,ny,nz)
764 glBegin (GL_TRIANGLE_STRIP);
765 for (i=0; i<=n; i++) {
766 glNormal3d (ny,nz,0);
767 glVertex3d (ny*r,nz*r,l+zoffset);
768 glNormal3d (ny,nz,0);
769 glVertex3d (ny*r,nz*r,-l+zoffset);
770 // rotate ny,nz
771 tmp = ca*ny - sa*nz;
772 nz = sa*ny + ca*nz;
773 ny = tmp;
774 }
775 glEnd();
776
777 // draw top cap
778 glShadeModel (GL_FLAT);
779 ny=1; nz=0; // normal vector = (0,ny,nz)
780 glBegin (GL_TRIANGLE_FAN);
781 glNormal3d (0,0,1);
782 glVertex3d (0,0,l+zoffset);
783 for (i=0; i<=n; i++) {
784 if (i==1 || i==n/2+1)
785 setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
786 glNormal3d (0,0,1);
787 glVertex3d (ny*r,nz*r,l+zoffset);
788 if (i==1 || i==n/2+1)
789 setColor (color[0],color[1],color[2],color[3]);
790
791 // rotate ny,nz
792 tmp = ca*ny - sa*nz;
793 nz = sa*ny + ca*nz;
794 ny = tmp;
795 }
796 glEnd();
797
798 // draw bottom cap
799 ny=1; nz=0; // normal vector = (0,ny,nz)
800 glBegin (GL_TRIANGLE_FAN);
801 glNormal3d (0,0,-1);
802 glVertex3d (0,0,-l+zoffset);
803 for (i=0; i<=n; i++) {
804 if (i==1 || i==n/2+1)
805 setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
806 glNormal3d (0,0,-1);
807 glVertex3d (ny*r,nz*r,-l+zoffset);
808 if (i==1 || i==n/2+1)
809 setColor (color[0],color[1],color[2],color[3]);
810
811 // rotate ny,nz
812 tmp = ca*ny + sa*nz;
813 nz = -sa*ny + ca*nz;
814 ny = tmp;
815 }
816 glEnd();
817}
818
819//***************************************************************************
820// motion model
821
822// current camera position and orientation
823static float view_xyz[3]; // position x,y,z
824static float view_hpr[3]; // heading, pitch, roll (degrees)
825
826
827// initialize the above variables
828
829static void initMotionModel()
830{
831 view_xyz[0] = 2;
832 view_xyz[1] = 0;
833 view_xyz[2] = 1;
834 view_hpr[0] = 180;
835 view_hpr[1] = 0;
836 view_hpr[2] = 0;
837}
838
839
840static void wrapCameraAngles()
841{
842 for (int i=0; i<3; i++) {
843 while (view_hpr[i] > 180) view_hpr[i] -= 360;
844 while (view_hpr[i] < -180) view_hpr[i] += 360;
845 }
846}
847
848
849// call this to update the current camera position. the bits in `mode' say
850// if the left (1), middle (2) or right (4) mouse button is pressed, and
851// (deltax,deltay) is the amount by which the mouse pointer has moved.
852
853void dsMotion (int mode, int deltax, int deltay)
854{
855 float side = 0.01f * float(deltax);
856 float fwd = (mode==4) ? (0.01f * float(deltay)) : 0.0f;
857 float s = (float) sin (view_hpr[0]*DEG_TO_RAD);
858 float c = (float) cos (view_hpr[0]*DEG_TO_RAD);
859
860 if (mode==1) {
861 view_hpr[0] += float (deltax) * 0.5f;
862 view_hpr[1] += float (deltay) * 0.5f;
863 }
864 else {
865 view_xyz[0] += -s*side + c*fwd;
866 view_xyz[1] += c*side + s*fwd;
867 if (mode==2 || mode==5) view_xyz[2] += 0.01f * float(deltay);
868 }
869 wrapCameraAngles();
870}
871
872//***************************************************************************
873// drawing loop stuff
874
875// the current state:
876// 0 = uninitialized
877// 1 = dsSimulationLoop() called
878// 2 = dsDrawFrame() called
879static int current_state = 0;
880
881// textures and shadows
882static int use_textures=1; // 1 if textures to be drawn
883static int use_shadows=1; // 1 if shadows to be drawn
884static Texture *sky_texture = 0;
885static Texture *ground_texture = 0;
886static Texture *wood_texture = 0;
887
888
889#ifndef macintosh
890
891void dsStartGraphics (int width, int height, dsFunctions *fn)
892{
893 char *prefix = DEFAULT_PATH_TO_TEXTURES;
894 if (fn->version >= 2 && fn->path_to_textures) prefix = fn->path_to_textures;
895 char *s = (char*) alloca (strlen(prefix) + 20);
896
897 strcpy (s,prefix);
898 strcat (s,"/sky.ppm");
899 sky_texture = new Texture (s);
900
901 strcpy (s,prefix);
902 strcat (s,"/ground.ppm");
903 ground_texture = new Texture (s);
904
905 strcpy (s,prefix);
906 strcat (s,"/wood.ppm");
907 wood_texture = new Texture (s);
908}
909
910#else // macintosh
911
912void dsStartGraphics (int width, int height, dsFunctions *fn)
913{
914 // All examples build into the same dir
915 char *prefix = "::::drawstuff:textures";
916 char *s = (char*) alloca (strlen(prefix) + 20);
917
918 strcpy (s,prefix);
919 strcat (s,":sky.ppm");
920 sky_texture = new Texture (s);
921
922 strcpy (s,prefix);
923 strcat (s,":ground.ppm");
924 ground_texture = new Texture (s);
925
926 strcpy (s,prefix);
927 strcat (s,":wood.ppm");
928 wood_texture = new Texture (s);
929}
930
931#endif
932
933
934void dsStopGraphics()
935{
936 delete sky_texture;
937 delete ground_texture;
938 delete wood_texture;
939 sky_texture = 0;
940 ground_texture = 0;
941 wood_texture = 0;
942}
943
944
945static void drawSky (float view_xyz[3])
946{
947 glDisable (GL_LIGHTING);
948 if (use_textures) {
949 glEnable (GL_TEXTURE_2D);
950 sky_texture->bind (0);
951 }
952 else {
953 glDisable (GL_TEXTURE_2D);
954 glColor3f (0,0.5,1.0);
955 }
956
957 // make sure sky depth is as far back as possible
958 glShadeModel (GL_FLAT);
959 glEnable (GL_DEPTH_TEST);
960 glDepthFunc (GL_LEQUAL);
961 glDepthRange (1,1);
962
963 const float ssize = 1000.0f;
964 static float offset = 0.0f;
965
966 float x = ssize*sky_scale;
967 float z = view_xyz[2] + sky_height;
968
969 glBegin (GL_QUADS);
970 glNormal3f (0,0,-1);
971 glTexCoord2f (-x+offset,-x+offset);
972 glVertex3f (-ssize+view_xyz[0],-ssize+view_xyz[1],z);
973 glTexCoord2f (-x+offset,x+offset);
974 glVertex3f (-ssize+view_xyz[0],ssize+view_xyz[1],z);
975 glTexCoord2f (x+offset,x+offset);
976 glVertex3f (ssize+view_xyz[0],ssize+view_xyz[1],z);
977 glTexCoord2f (x+offset,-x+offset);
978 glVertex3f (ssize+view_xyz[0],-ssize+view_xyz[1],z);
979 glEnd();
980
981 offset = offset + 0.002f;
982 if (offset > 1) offset -= 1;
983
984 glDepthFunc (GL_LESS);
985 glDepthRange (0,1);
986}
987
988
989static void drawGround()
990{
991 glDisable (GL_LIGHTING);
992 glShadeModel (GL_FLAT);
993 glEnable (GL_DEPTH_TEST);
994 glDepthFunc (GL_LESS);
995 // glDepthRange (1,1);
996
997 if (use_textures) {
998 glEnable (GL_TEXTURE_2D);
999 ground_texture->bind (0);
1000 }
1001 else {
1002 glDisable (GL_TEXTURE_2D);
1003 glColor3f (GROUND_R,GROUND_G,GROUND_B);
1004 }
1005
1006 // ground fog seems to cause problems with TNT2 under windows
1007 /*
1008 GLfloat fogColor[4] = {0.5, 0.5, 0.5, 1};
1009 glEnable (GL_FOG);
1010 glFogi (GL_FOG_MODE, GL_EXP2);
1011 glFogfv (GL_FOG_COLOR, fogColor);
1012 glFogf (GL_FOG_DENSITY, 0.05f);
1013 glHint (GL_FOG_HINT, GL_NICEST); // GL_DONT_CARE);
1014 glFogf (GL_FOG_START, 1.0);
1015 glFogf (GL_FOG_END, 5.0);
1016 */
1017
1018 const float gsize = 100.0f;
1019 const float offset = 0; // -0.001f; ... polygon offsetting doesn't work well
1020
1021 glBegin (GL_QUADS);
1022 glNormal3f (0,0,1);
1023 glTexCoord2f (-gsize*ground_scale + ground_ofsx,
1024 -gsize*ground_scale + ground_ofsy);
1025 glVertex3f (-gsize,-gsize,offset);
1026 glTexCoord2f (gsize*ground_scale + ground_ofsx,
1027 -gsize*ground_scale + ground_ofsy);
1028 glVertex3f (gsize,-gsize,offset);
1029 glTexCoord2f (gsize*ground_scale + ground_ofsx,
1030 gsize*ground_scale + ground_ofsy);
1031 glVertex3f (gsize,gsize,offset);
1032 glTexCoord2f (-gsize*ground_scale + ground_ofsx,
1033 gsize*ground_scale + ground_ofsy);
1034 glVertex3f (-gsize,gsize,offset);
1035 glEnd();
1036
1037 glDisable (GL_FOG);
1038}
1039
1040
1041static void drawPyramidGrid()
1042{
1043 // setup stuff
1044 glEnable (GL_LIGHTING);
1045 glDisable (GL_TEXTURE_2D);
1046 glShadeModel (GL_FLAT);
1047 glEnable (GL_DEPTH_TEST);
1048 glDepthFunc (GL_LESS);
1049
1050 // draw the pyramid grid
1051 for (int i=-1; i<=1; i++) {
1052 for (int j=-1; j<=1; j++) {
1053 glPushMatrix();
1054 glTranslatef ((float)i,(float)j,(float)0);
1055 if (i==1 && j==0) setColor (1,0,0,1);
1056 else if (i==0 && j==1) setColor (0,0,1,1);
1057 else setColor (1,1,0,1);
1058 const float k = 0.03f;
1059 glBegin (GL_TRIANGLE_FAN);
1060 glNormal3f (0,-1,1);
1061 glVertex3f (0,0,k);
1062 glVertex3f (-k,-k,0);
1063 glVertex3f ( k,-k,0);
1064 glNormal3f (1,0,1);
1065 glVertex3f ( k, k,0);
1066 glNormal3f (0,1,1);
1067 glVertex3f (-k, k,0);
1068 glNormal3f (-1,0,1);
1069 glVertex3f (-k,-k,0);
1070 glEnd();
1071 glPopMatrix();
1072 }
1073 }
1074}
1075
1076
1077void dsDrawFrame (int width, int height, dsFunctions *fn, int pause)
1078{
1079 if (current_state < 1) dsDebug ("internal error");
1080 current_state = 2;
1081
1082 // setup stuff
1083 glEnable (GL_LIGHTING);
1084 glEnable (GL_LIGHT0);
1085 glDisable (GL_TEXTURE_2D);
1086 glDisable (GL_TEXTURE_GEN_S);
1087 glDisable (GL_TEXTURE_GEN_T);
1088 glShadeModel (GL_FLAT);
1089 glEnable (GL_DEPTH_TEST);
1090 glDepthFunc (GL_LESS);
1091 glEnable (GL_CULL_FACE);
1092 glCullFace (GL_BACK);
1093 glFrontFace (GL_CCW);
1094
1095 // setup viewport
1096 glViewport (0,0,width,height);
1097 glMatrixMode (GL_PROJECTION);
1098 glLoadIdentity();
1099 const float vnear = 0.1f;
1100 const float vfar = 100.0f;
1101 const float k = 0.8f; // view scale, 1 = +/- 45 degrees
1102 if (width >= height) {
1103 float k2 = float(height)/float(width);
1104 glFrustum (-vnear*k,vnear*k,-vnear*k*k2,vnear*k*k2,vnear,vfar);
1105 }
1106 else {
1107 float k2 = float(width)/float(height);
1108 glFrustum (-vnear*k*k2,vnear*k*k2,-vnear*k,vnear*k,vnear,vfar);
1109 }
1110
1111 // setup lights. it makes a difference whether this is done in the
1112 // GL_PROJECTION matrix mode (lights are scene relative) or the
1113 // GL_MODELVIEW matrix mode (lights are camera relative, bad!).
1114 static GLfloat light_ambient[] = { 0.5, 0.5, 0.5, 1.0 };
1115 static GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
1116 static GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
1117 glLightfv (GL_LIGHT0, GL_AMBIENT, light_ambient);
1118 glLightfv (GL_LIGHT0, GL_DIFFUSE, light_diffuse);
1119 glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular);
1120 glColor3f (1.0, 1.0, 1.0);
1121
1122 // clear the window
1123 glClearColor (0.5,0.5,0.5,0);
1124 glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
1125
1126 // snapshot camera position (in MS Windows it is changed by the GUI thread)
1127 float view2_xyz[3];
1128 float view2_hpr[3];
1129 memcpy (view2_xyz,view_xyz,sizeof(float)*3);
1130 memcpy (view2_hpr,view_hpr,sizeof(float)*3);
1131
1132 // go to GL_MODELVIEW matrix mode and set the camera
1133 glMatrixMode (GL_MODELVIEW);
1134 glLoadIdentity();
1135 setCamera (view2_xyz[0],view2_xyz[1],view2_xyz[2],
1136 view2_hpr[0],view2_hpr[1],view2_hpr[2]);
1137
1138 // set the light position (for some reason we have to do this in model view.
1139 static GLfloat light_position[] = { LIGHTX, LIGHTY, 1.0, 0.0 };
1140 glLightfv (GL_LIGHT0, GL_POSITION, light_position);
1141
1142 // draw the background (ground, sky etc)
1143 drawSky (view2_xyz);
1144 drawGround();
1145
1146 // draw the little markers on the ground
1147 drawPyramidGrid();
1148
1149 // leave openGL in a known state - flat shaded white, no textures
1150 glEnable (GL_LIGHTING);
1151 glDisable (GL_TEXTURE_2D);
1152 glShadeModel (GL_FLAT);
1153 glEnable (GL_DEPTH_TEST);
1154 glDepthFunc (GL_LESS);
1155 glColor3f (1,1,1);
1156 setColor (1,1,1,1);
1157
1158 // draw the rest of the objects. set drawing state first.
1159 color[0] = 1;
1160 color[1] = 1;
1161 color[2] = 1;
1162 color[3] = 1;
1163 tnum = 0;
1164 if (fn->step) fn->step (pause);
1165}
1166
1167
1168int dsGetShadows()
1169{
1170 return use_shadows;
1171}
1172
1173
1174void dsSetShadows (int a)
1175{
1176 use_shadows = (a != 0);
1177}
1178
1179
1180int dsGetTextures()
1181{
1182 return use_textures;
1183}
1184
1185
1186void dsSetTextures (int a)
1187{
1188 use_textures = (a != 0);
1189}
1190
1191//***************************************************************************
1192// C interface
1193
1194// sets lighting and texture modes, sets current color
1195static void setupDrawingMode()
1196{
1197 glEnable (GL_LIGHTING);
1198 if (tnum) {
1199 if (use_textures) {
1200 glEnable (GL_TEXTURE_2D);
1201 wood_texture->bind (1);
1202 glEnable (GL_TEXTURE_GEN_S);
1203 glEnable (GL_TEXTURE_GEN_T);
1204 glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
1205 glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
1206 static GLfloat s_params[4] = {1.0f,1.0f,0.0f,1};
1207 static GLfloat t_params[4] = {0.817f,-0.817f,0.817f,1};
1208 glTexGenfv (GL_S,GL_OBJECT_PLANE,s_params);
1209 glTexGenfv (GL_T,GL_OBJECT_PLANE,t_params);
1210 }
1211 else {
1212 glDisable (GL_TEXTURE_2D);
1213 }
1214 }
1215 else {
1216 glDisable (GL_TEXTURE_2D);
1217 }
1218 setColor (color[0],color[1],color[2],color[3]);
1219
1220 if (color[3] < 1) {
1221 glEnable (GL_BLEND);
1222 glBlendFunc (GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
1223 }
1224 else {
1225 glDisable (GL_BLEND);
1226 }
1227}
1228
1229
1230static void setShadowDrawingMode()
1231{
1232 glDisable (GL_LIGHTING);
1233 if (use_textures) {
1234 glEnable (GL_TEXTURE_2D);
1235 ground_texture->bind (1);
1236 glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
1237 glEnable (GL_TEXTURE_2D);
1238 glEnable (GL_TEXTURE_GEN_S);
1239 glEnable (GL_TEXTURE_GEN_T);
1240 glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
1241 glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
1242 static GLfloat s_params[4] = {ground_scale,0,0,ground_ofsx};
1243 static GLfloat t_params[4] = {0,ground_scale,0,ground_ofsy};
1244 glTexGenfv (GL_S,GL_EYE_PLANE,s_params);
1245 glTexGenfv (GL_T,GL_EYE_PLANE,t_params);
1246 }
1247 else {
1248 glDisable (GL_TEXTURE_2D);
1249 glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
1250 GROUND_B*SHADOW_INTENSITY);
1251 }
1252 glDepthRange (0,0.9999);
1253}
1254
1255
1256extern "C" void dsSimulationLoop (int argc, char **argv,
1257 int window_width, int window_height,
1258 dsFunctions *fn)
1259{
1260 if (current_state != 0) dsError ("dsSimulationLoop() called more than once");
1261 current_state = 1;
1262
1263 // look for flags that apply to us
1264 int initial_pause = 0;
1265 for (int i=1; i<argc; i++) {
1266 if (strcmp(argv[i],"-notex")==0) use_textures = 0;
1267 if (strcmp(argv[i],"-noshadow")==0) use_shadows = 0;
1268 if (strcmp(argv[i],"-noshadows")==0) use_shadows = 0;
1269 if (strcmp(argv[i],"-pause")==0) initial_pause = 1;
1270 }
1271
1272 if (fn->version > DS_VERSION)
1273 dsDebug ("bad version number in dsFunctions structure");
1274
1275 initMotionModel();
1276 dsPlatformSimLoop (window_width,window_height,fn,initial_pause);
1277
1278 current_state = 0;
1279}
1280
1281
1282extern "C" void dsSetViewpoint (float xyz[3], float hpr[3])
1283{
1284 if (current_state < 1) dsError ("dsSetViewpoint() called before simulation started");
1285 if (xyz) {
1286 view_xyz[0] = xyz[0];
1287 view_xyz[1] = xyz[1];
1288 view_xyz[2] = xyz[2];
1289 }
1290 if (hpr) {
1291 view_hpr[0] = hpr[0];
1292 view_hpr[1] = hpr[1];
1293 view_hpr[2] = hpr[2];
1294 wrapCameraAngles();
1295 }
1296}
1297
1298
1299extern "C" void dsGetViewpoint (float xyz[3], float hpr[3])
1300{
1301 if (current_state < 1) dsError ("dsGetViewpoint() called before simulation started");
1302 if (xyz) {
1303 xyz[0] = view_xyz[0];
1304 xyz[1] = view_xyz[1];
1305 xyz[2] = view_xyz[2];
1306 }
1307 if (hpr) {
1308 hpr[0] = view_hpr[0];
1309 hpr[1] = view_hpr[1];
1310 hpr[2] = view_hpr[2];
1311 }
1312}
1313
1314
1315extern "C" void dsSetTexture (int texture_number)
1316{
1317 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1318 tnum = texture_number;
1319}
1320
1321
1322extern "C" void dsSetColor (float red, float green, float blue)
1323{
1324 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1325 color[0] = red;
1326 color[1] = green;
1327 color[2] = blue;
1328 color[3] = 1;
1329}
1330
1331
1332extern "C" void dsSetColorAlpha (float red, float green, float blue,
1333 float alpha)
1334{
1335 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1336 color[0] = red;
1337 color[1] = green;
1338 color[2] = blue;
1339 color[3] = alpha;
1340}
1341
1342
1343extern "C" void dsDrawBox (const float pos[3], const float R[12],
1344 const float sides[3])
1345{
1346 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1347 setupDrawingMode();
1348 glShadeModel (GL_FLAT);
1349 setTransform (pos,R);
1350 drawBox (sides);
1351 glPopMatrix();
1352
1353 if (use_shadows) {
1354 setShadowDrawingMode();
1355 setShadowTransform();
1356 setTransform (pos,R);
1357 drawBox (sides);
1358 glPopMatrix();
1359 glPopMatrix();
1360 glDepthRange (0,1);
1361 }
1362}
1363
1364extern "C" void dsDrawConvex (const float pos[3], const float R[12],
1365 float *_planes,unsigned int _planecount,
1366 float *_points,
1367 unsigned int _pointcount,
1368 unsigned int *_polygons)
1369{
1370 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1371 setupDrawingMode();
1372 glShadeModel (GL_FLAT);
1373 setTransform (pos,R);
1374 drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
1375 glPopMatrix();
1376 if (use_shadows) {
1377 setShadowDrawingMode();
1378 setShadowTransform();
1379 setTransform (pos,R);
1380 drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
1381 glPopMatrix();
1382 glPopMatrix();
1383 glDepthRange (0,1);
1384 }
1385}
1386
1387
1388extern "C" void dsDrawSphere (const float pos[3], const float R[12],
1389 float radius)
1390{
1391 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1392 setupDrawingMode();
1393 glEnable (GL_NORMALIZE);
1394 glShadeModel (GL_SMOOTH);
1395 setTransform (pos,R);
1396 glScaled (radius,radius,radius);
1397 drawSphere();
1398 glPopMatrix();
1399 glDisable (GL_NORMALIZE);
1400
1401 // draw shadows
1402 if (use_shadows) {
1403 glDisable (GL_LIGHTING);
1404 if (use_textures) {
1405 ground_texture->bind (1);
1406 glEnable (GL_TEXTURE_2D);
1407 glDisable (GL_TEXTURE_GEN_S);
1408 glDisable (GL_TEXTURE_GEN_T);
1409 glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
1410 }
1411 else {
1412 glDisable (GL_TEXTURE_2D);
1413 glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
1414 GROUND_B*SHADOW_INTENSITY);
1415 }
1416 glShadeModel (GL_FLAT);
1417 glDepthRange (0,0.9999);
1418 drawSphereShadow (pos[0],pos[1],pos[2],radius);
1419 glDepthRange (0,1);
1420 }
1421}
1422
1423
1424extern "C" void dsDrawTriangle (const float pos[3], const float R[12],
1425 const float *v0, const float *v1,
1426 const float *v2, int solid)
1427{
1428 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1429 setupDrawingMode();
1430 glShadeModel (GL_FLAT);
1431 setTransform (pos,R);
1432 drawTriangle (v0, v1, v2, solid);
1433 glPopMatrix();
1434}
1435
1436
1437extern "C" void dsDrawCylinder (const float pos[3], const float R[12],
1438 float length, float radius)
1439{
1440 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1441 setupDrawingMode();
1442 glShadeModel (GL_SMOOTH);
1443 setTransform (pos,R);
1444 drawCylinder (length,radius,0);
1445 glPopMatrix();
1446
1447 if (use_shadows) {
1448 setShadowDrawingMode();
1449 setShadowTransform();
1450 setTransform (pos,R);
1451 drawCylinder (length,radius,0);
1452 glPopMatrix();
1453 glPopMatrix();
1454 glDepthRange (0,1);
1455 }
1456}
1457
1458
1459extern "C" void dsDrawCapsule (const float pos[3], const float R[12],
1460 float length, float radius)
1461{
1462 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1463 setupDrawingMode();
1464 glShadeModel (GL_SMOOTH);
1465 setTransform (pos,R);
1466 drawCapsule (length,radius);
1467 glPopMatrix();
1468
1469 if (use_shadows) {
1470 setShadowDrawingMode();
1471 setShadowTransform();
1472 setTransform (pos,R);
1473 drawCapsule (length,radius);
1474 glPopMatrix();
1475 glPopMatrix();
1476 glDepthRange (0,1);
1477 }
1478}
1479
1480
1481void dsDrawLine (const float pos1[3], const float pos2[3])
1482{
1483 setupDrawingMode();
1484 glColor3f (color[0],color[1],color[2]);
1485 glDisable (GL_LIGHTING);
1486 glLineWidth (2);
1487 glShadeModel (GL_FLAT);
1488 glBegin (GL_LINES);
1489 glVertex3f (pos1[0],pos1[1],pos1[2]);
1490 glVertex3f (pos2[0],pos2[1],pos2[2]);
1491 glEnd();
1492}
1493
1494
1495void dsDrawBoxD (const double pos[3], const double R[12],
1496 const double sides[3])
1497{
1498 int i;
1499 float pos2[3],R2[12],fsides[3];
1500 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
1501 for (i=0; i<12; i++) R2[i]=(float)R[i];
1502 for (i=0; i<3; i++) fsides[i]=(float)sides[i];
1503 dsDrawBox (pos2,R2,fsides);
1504}
1505
1506extern "C" void dsDrawConvexD (const double pos[3], const double R[12],
1507 double *_planes,unsigned int _planecount,
1508 double *_points,
1509 unsigned int _pointcount,
1510 unsigned int *_polygons)
1511{
1512 if (current_state != 2) dsError ("drawing function called outside simulation loop");
1513 setupDrawingMode();
1514 glShadeModel (GL_FLAT);
1515 setTransformD (pos,R);
1516 drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
1517 glPopMatrix();
1518 if (use_shadows) {
1519 setShadowDrawingMode();
1520 setShadowTransform();
1521 setTransformD (pos,R);
1522 drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
1523 glPopMatrix();
1524 glPopMatrix();
1525 glDepthRange (0,1);
1526 }
1527}
1528
1529void dsDrawSphereD (const double pos[3], const double R[12], float radius)
1530{
1531 int i;
1532 float pos2[3],R2[12];
1533 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
1534 for (i=0; i<12; i++) R2[i]=(float)R[i];
1535 dsDrawSphere (pos2,R2,radius);
1536}
1537
1538
1539void dsDrawTriangleD (const double pos[3], const double R[12],
1540 const double *v0, const double *v1,
1541 const double *v2, int solid)
1542{
1543 int i;
1544 float pos2[3],R2[12];
1545 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
1546 for (i=0; i<12; i++) R2[i]=(float)R[i];
1547
1548 setupDrawingMode();
1549 glShadeModel (GL_FLAT);
1550 setTransform (pos2,R2);
1551 drawTriangleD (v0, v1, v2, solid);
1552 glPopMatrix();
1553}
1554
1555
1556void dsDrawCylinderD (const double pos[3], const double R[12],
1557 float length, float radius)
1558{
1559 int i;
1560 float pos2[3],R2[12];
1561 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
1562 for (i=0; i<12; i++) R2[i]=(float)R[i];
1563 dsDrawCylinder (pos2,R2,length,radius);
1564}
1565
1566
1567void dsDrawCapsuleD (const double pos[3], const double R[12],
1568 float length, float radius)
1569{
1570 int i;
1571 float pos2[3],R2[12];
1572 for (i=0; i<3; i++) pos2[i]=(float)pos[i];
1573 for (i=0; i<12; i++) R2[i]=(float)R[i];
1574 dsDrawCapsule (pos2,R2,length,radius);
1575}
1576
1577
1578void dsDrawLineD (const double _pos1[3], const double _pos2[3])
1579{
1580 int i;
1581 float pos1[3],pos2[3];
1582 for (i=0; i<3; i++) pos1[i]=(float)_pos1[i];
1583 for (i=0; i<3; i++) pos2[i]=(float)_pos2[i];
1584 dsDrawLine (pos1,pos2);
1585}
1586
1587
1588void dsSetSphereQuality (int n)
1589{
1590 sphere_quality = n;
1591}
1592
1593
1594void dsSetCapsuleQuality (int n)
1595{
1596 capped_cylinder_quality = n;
1597}
diff --git a/libraries/ode-0.9/drawstuff/src/internal.h b/libraries/ode-0.9/drawstuff/src/internal.h
new file mode 100644
index 0000000..de1aa11
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/internal.h
@@ -0,0 +1,50 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23/* functions supplied and used by the platform specific code */
24
25#ifndef __DS_INTERNAL_H
26#define __DS_INTERNAL_H
27
28#include "drawstuff/drawstuff.h"
29
30
31// supplied by platform specific code
32
33void dsPlatformSimLoop (int window_width, int window_height,
34 dsFunctions *fn, int initial_pause);
35
36
37// used by platform specific code
38
39void dsStartGraphics (int width, int height, dsFunctions *fn);
40void dsDrawFrame (int width, int height, dsFunctions *fn, int pause);
41void dsStopGraphics();
42void dsMotion (int mode, int deltax, int deltay);
43
44int dsGetShadows();
45void dsSetShadows (int a);
46
47int dsGetTextures();
48void dsSetTextures (int a);
49
50#endif
diff --git a/libraries/ode-0.9/drawstuff/src/osx.cpp b/libraries/ode-0.9/drawstuff/src/osx.cpp
new file mode 100644
index 0000000..fcecba9
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/osx.cpp
@@ -0,0 +1,542 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23// Platform-specific code for Mac OS X using Carbon+AGL
24//
25// Created using x11.cpp and the window-initialization -routines from GLFW
26// as reference.
27// Not thoroughly tested and is certain to contain deficiencies and bugs
28
29#include <ode/config.h>
30#include <stdlib.h>
31#include <string.h>
32#include <stdarg.h>
33
34#ifdef HAVE_SYS_TIME_H
35#include <sys/time.h>
36#endif
37
38#include <drawstuff/drawstuff.h>
39#include <drawstuff/version.h>
40#include "internal.h"
41
42#include <Carbon/Carbon.h>
43#include <AGL/agl.h>
44
45// Global variables
46
47static bool running = true; // 1 if simulation running
48static bool paused = false; // 1 if in `pause' mode
49static bool singlestep = false; // 1 if single step key pressed
50static bool writeframes = false; // 1 if frame files to be written
51
52static int windowWidth = -1;
53static int windowHeight = -1;
54static UInt32 modifierMask = 0;
55static int mouseButtonMode = 0;
56static bool mouseWithOption = false; // Set if dragging the mouse with alt pressed
57static bool mouseWithControl = false; // Set if dragging the mouse with ctrl pressed
58
59static dsFunctions* functions = NULL;
60static WindowRef windowReference;
61static AGLContext aglContext;
62
63static EventHandlerUPP mouseUPP = NULL;
64static EventHandlerUPP keyboardUPP = NULL;
65static EventHandlerUPP windowUPP = NULL;
66
67// Describes the window-events we are interested in
68EventTypeSpec OSX_WINDOW_EVENT_TYPES[] = {
69 { kEventClassWindow, kEventWindowBoundsChanged },
70 { kEventClassWindow, kEventWindowClose },
71 { kEventClassWindow, kEventWindowDrawContent }
72};
73
74// Describes the mouse-events we are interested in
75EventTypeSpec OSX_MOUSE_EVENT_TYPES[] = {
76 { kEventClassMouse, kEventMouseDown },
77 { kEventClassMouse, kEventMouseUp },
78 { kEventClassMouse, kEventMouseMoved },
79 { kEventClassMouse, kEventMouseDragged }
80};
81
82// Describes the key-events we are interested in
83EventTypeSpec OSX_KEY_EVENT_TYPES[] = {
84 { kEventClassKeyboard, kEventRawKeyDown },
85// { kEventClassKeyboard, kEventRawKeyUp },
86 { kEventClassKeyboard, kEventRawKeyModifiersChanged }
87};
88
89//***************************************************************************
90// error handling for unix
91
92static void printMessage (char *msg1, char *msg2, va_list ap)
93{
94 fflush (stderr);
95 fflush (stdout);
96 fprintf (stderr,"\n%s: ",msg1);
97 vfprintf (stderr,msg2,ap);
98 fprintf (stderr,"\n");
99 fflush (stderr);
100}
101
102extern "C" void dsError (char *msg, ...)
103{
104 va_list ap;
105 va_start (ap,msg);
106 printMessage ("Error",msg,ap);
107 exit (1);
108}
109
110
111extern "C" void dsDebug (char *msg, ...)
112{
113 va_list ap;
114 va_start (ap,msg);
115 printMessage ("INTERNAL ERROR",msg,ap);
116 // *((char *)0) = 0; ... commit SEGVicide ?
117 abort();
118}
119
120extern "C" void dsPrint (char *msg, ...)
121{
122 va_list ap;
123 va_start (ap,msg);
124 vprintf (msg,ap);
125}
126
127static void captureFrame( int num ){
128
129 fprintf( stderr,"\rcapturing frame %04d", num );
130 unsigned char buffer[windowWidth*windowHeight][3];
131 glReadPixels( 0, 0, windowWidth, windowHeight, GL_RGB, GL_UNSIGNED_BYTE, &buffer );
132 char s[100];
133 sprintf (s,"frame%04d.ppm",num);
134 FILE *f = fopen (s,"wb");
135 if( !f ){
136 dsError( "can't open \"%s\" for writing", s );
137 }
138 fprintf( f,"P6\n%d %d\n255\n", windowWidth, windowHeight );
139 for( int y=windowHeight-1; y>-1; y-- ){
140 fwrite( buffer[y*windowWidth], 3*windowWidth, 1, f );
141 }
142 fclose (f);
143}
144
145extern "C" void dsStop(){
146
147 running = false;
148}
149
150extern "C" double dsElapsedTime()
151{
152#if HAVE_GETTIMEOFDAY
153 static double prev=0.0;
154 timeval tv ;
155
156 gettimeofday(&tv, 0);
157 double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
158 if (!prev)
159 prev=curr;
160 double retval = curr-prev;
161 prev=curr;
162 if (retval>1.0) retval=1.0;
163 if (retval<dEpsilon) retval=dEpsilon;
164 return retval;
165#else
166 return 0.01666; // Assume 60 fps
167#endif
168}
169
170OSStatus osxKeyEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){
171
172 UInt32 keyCode;
173 UInt32 state = 0;
174 void* KCHR = NULL;
175 char charCode = 0;
176 char uppercase = 0;
177
178 switch( GetEventKind( event ) ){
179 case kEventRawKeyDown:
180 if( GetEventParameter( event, kEventParamKeyCode, typeUInt32, NULL, sizeof( UInt32 ), NULL, &keyCode ) != noErr ){
181 break;
182 }
183 KCHR = (void *)GetScriptVariable( smCurrentScript, smKCHRCache );
184 charCode = (char)KeyTranslate( KCHR, keyCode, &state );
185 uppercase = charCode;
186 UppercaseText( &uppercase, 1, smSystemScript );
187 //printf( "Character %d [%c] [%c] modifiers [%d]\n", charCode, charCode, uppercase, modifierMask );
188
189 if( modifierMask == 0 ){
190 if( charCode >= ' ' && charCode <= 126 && functions -> command ){
191 functions -> command( charCode );
192 }
193 }
194 else if( ( modifierMask & controlKey ) ){
195 // ctrl+key was pressed
196 switch(uppercase ){
197 case 'T':
198 dsSetTextures( !dsGetTextures() );
199 break;
200 case 'S':
201 dsSetShadows( !dsGetShadows() );
202 break;
203 case 'X':
204 running = false;
205 break;
206 case 'P':
207 paused = !paused;
208 singlestep = false;
209 break;
210 case 'O':
211 if( paused ){
212 singlestep = true;
213 }
214 break;
215 case 'V': {
216 float xyz[3],hpr[3];
217 dsGetViewpoint( xyz,hpr );
218 printf( "Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", xyz[0], xyz[1], xyz[2], hpr[0], hpr[1], hpr[2] );
219 break;
220 }
221 case 'W':
222 writeframes = !writeframes;
223 if( writeframes ){
224 printf( "Now writing frames to PPM files\n" );
225 }
226 break;
227 }
228
229 }
230 return noErr;
231 case kEventRawKeyModifiersChanged:
232 if( GetEventParameter( event, kEventParamKeyModifiers, typeUInt32, NULL, sizeof( UInt32 ), NULL, &modifierMask ) == noErr ){
233 if( ( mouseWithOption && !( modifierMask & optionKey ) ) || ( mouseWithControl && !( modifierMask & controlKey ) ) ){
234 // The mouse was being dragged using either the command-key or the option-key modifier to emulate
235 // the right button or both left + right.
236 // Now the modifier-key has been released so the mouseButtonMode must be changed accordingly
237 // The following releases the right-button.
238 mouseButtonMode &= (~4);
239 mouseWithOption = false;
240 mouseWithControl = false;
241 }
242 return noErr;
243 }
244 break;
245 }
246 return eventNotHandledErr;
247}
248
249OSStatus osxMouseEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){
250
251 bool buttonDown = false;
252 HIPoint mouseLocation;
253
254 switch( GetEventKind( event ) ){
255
256 case kEventMouseDown:
257 buttonDown = true;
258 case kEventMouseUp:
259 if( GetEventParameter( event, kEventParamWindowMouseLocation, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) != noErr ){
260 break;
261 }
262 EventMouseButton button;
263 if( GetEventParameter( event, kEventParamMouseButton, typeMouseButton, NULL, sizeof( EventMouseButton ), NULL, &button ) == noErr ){
264
265 if( button == kEventMouseButtonPrimary ){
266 if( modifierMask & controlKey ){
267 // Ctrl+button == right
268 button = kEventMouseButtonSecondary;
269 mouseWithControl = true;
270 }
271 else if( modifierMask & optionKey ){
272 // Alt+button == left+right
273 mouseButtonMode = 5;
274 mouseWithOption = true;
275 return noErr;
276 }
277 }
278 if( buttonDown ){
279 if( button == kEventMouseButtonPrimary ) mouseButtonMode |= 1; // Left
280 if( button == kEventMouseButtonTertiary ) mouseButtonMode |= 2; // Middle
281 if( button == kEventMouseButtonSecondary ) mouseButtonMode |= 4; // Right
282 }
283 else{
284 if( button == kEventMouseButtonPrimary ) mouseButtonMode &= (~1); // Left
285 if( button == kEventMouseButtonTertiary ) mouseButtonMode &= (~2); // Middle
286 if( button == kEventMouseButtonSecondary ) mouseButtonMode &= (~4);// Right
287 }
288 return noErr;
289 }
290 break;
291 case kEventMouseMoved:
292 // NO-OP
293 return noErr;
294 case kEventMouseDragged:
295 // Carbon provides mouse-position deltas, so we don't have to store the old state ourselves
296 if( GetEventParameter( event, kEventParamMouseDelta, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) == noErr ){
297 //printf( "Mode %d\n", mouseButtonMode );
298 dsMotion( mouseButtonMode, (int)mouseLocation.x, (int)mouseLocation.y );
299 return noErr;
300 }
301 break;
302 case kEventMouseWheelMoved:
303 // NO-OP
304 break;
305 }
306 return eventNotHandledErr;
307}
308
309static void osxCloseMainWindow(){
310
311 if( windowUPP != NULL ){
312 DisposeEventHandlerUPP( windowUPP );
313 windowUPP = NULL;
314 }
315
316 if( aglContext != NULL ){
317 aglSetCurrentContext( NULL );
318 aglSetDrawable( aglContext, NULL );
319 aglDestroyContext( aglContext );
320 aglContext = NULL;
321 }
322
323 if( windowReference != NULL ){
324 ReleaseWindow( windowReference );
325 windowReference = NULL;
326 }
327}
328
329OSStatus osxWindowEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){
330
331 //printf( "WindowEvent\n" );
332 switch( GetEventKind(event) ){
333 case kEventWindowBoundsChanged:
334 WindowRef window;
335 GetEventParameter( event, kEventParamDirectObject, typeWindowRef, NULL, sizeof(WindowRef), NULL, &window );
336 Rect rect;
337 GetWindowPortBounds( window, &rect );
338 windowWidth = rect.right;
339 windowHeight = rect.bottom;
340 aglUpdateContext( aglContext );
341 break;
342 case kEventWindowClose:
343 osxCloseMainWindow();
344 exit( 0 );
345 return noErr;
346 case kEventWindowDrawContent:
347 // NO-OP
348 break;
349 }
350
351 return eventNotHandledErr;
352}
353
354static void osxCreateMainWindow( int width, int height ){
355
356 int redbits = 4;
357 int greenbits = 4;
358 int bluebits = 4;
359 int alphabits = 4;
360 int depthbits = 16;
361
362 OSStatus error;
363
364 // create pixel format attribute list
365
366 GLint pixelFormatAttributes[256];
367 int numAttrs = 0;
368
369 pixelFormatAttributes[numAttrs++] = AGL_RGBA;
370 pixelFormatAttributes[numAttrs++] = AGL_DOUBLEBUFFER;
371
372 pixelFormatAttributes[numAttrs++] = AGL_RED_SIZE;
373 pixelFormatAttributes[numAttrs++] = redbits;
374 pixelFormatAttributes[numAttrs++] = AGL_GREEN_SIZE;
375 pixelFormatAttributes[numAttrs++] = greenbits;
376 pixelFormatAttributes[numAttrs++] = AGL_BLUE_SIZE;
377 pixelFormatAttributes[numAttrs++] = bluebits;
378 pixelFormatAttributes[numAttrs++] = AGL_ALPHA_SIZE;
379 pixelFormatAttributes[numAttrs++] = alphabits;
380 pixelFormatAttributes[numAttrs++] = AGL_DEPTH_SIZE;
381 pixelFormatAttributes[numAttrs++] = depthbits;
382
383 pixelFormatAttributes[numAttrs++] = AGL_NONE;
384
385 // create pixel format.
386
387 AGLDevice mainMonitor = GetMainDevice();
388 AGLPixelFormat pixelFormat = aglChoosePixelFormat( &mainMonitor, 1, pixelFormatAttributes );
389 if( pixelFormat == NULL ){
390 return;
391 }
392
393 aglContext = aglCreateContext( pixelFormat, NULL );
394
395 aglDestroyPixelFormat( pixelFormat );
396
397 if( aglContext == NULL ){
398 osxCloseMainWindow();
399 return;
400 }
401
402 Rect windowContentBounds;
403 windowContentBounds.left = 0;
404 windowContentBounds.top = 0;
405 windowContentBounds.right = width;
406 windowContentBounds.bottom = height;
407
408 int windowAttributes = kWindowCloseBoxAttribute
409 | kWindowFullZoomAttribute
410 | kWindowCollapseBoxAttribute
411 | kWindowResizableAttribute
412 | kWindowStandardHandlerAttribute
413 | kWindowLiveResizeAttribute;
414
415 error = CreateNewWindow( kDocumentWindowClass, windowAttributes, &windowContentBounds, &windowReference );
416 if( ( error != noErr ) || ( windowReference == NULL ) ){
417 osxCloseMainWindow();
418 return;
419 }
420
421 windowUPP = NewEventHandlerUPP( osxWindowEventHandler );
422
423 error = InstallWindowEventHandler( windowReference, windowUPP,GetEventTypeCount( OSX_WINDOW_EVENT_TYPES ), OSX_WINDOW_EVENT_TYPES, NULL, NULL );
424 if( error != noErr ){
425 osxCloseMainWindow();
426 return;
427 }
428
429 // The process-type must be changed for a ForegroundApplication
430 // Unless it is a foreground-process, the application will not show in the dock or expose and the window
431 // will not behave properly.
432 ProcessSerialNumber currentProcess;
433 GetCurrentProcess( &currentProcess );
434 TransformProcessType( &currentProcess, kProcessTransformToForegroundApplication );
435 SetFrontProcess( &currentProcess );
436
437 SetWindowTitleWithCFString( windowReference, CFSTR( "ODE - Drawstuff" ) );
438 RepositionWindow( windowReference, NULL, kWindowCenterOnMainScreen );
439
440 ShowWindow( windowReference );
441
442 if( !aglSetDrawable( aglContext, GetWindowPort( windowReference ) ) ){
443 osxCloseMainWindow();
444 return;
445 }
446
447 if( !aglSetCurrentContext( aglContext ) ){
448 osxCloseMainWindow();
449 }
450
451 windowWidth = width;
452 windowHeight = height;
453}
454
455int osxInstallEventHandlers(){
456
457 OSStatus error;
458
459 mouseUPP = NewEventHandlerUPP( osxMouseEventHandler );
460
461 error = InstallEventHandler( GetApplicationEventTarget(), mouseUPP, GetEventTypeCount( OSX_MOUSE_EVENT_TYPES ), OSX_MOUSE_EVENT_TYPES, NULL, NULL );
462 if( error != noErr ){
463 return GL_FALSE;
464 }
465
466 keyboardUPP = NewEventHandlerUPP( osxKeyEventHandler );
467
468 error = InstallEventHandler( GetApplicationEventTarget(), keyboardUPP, GetEventTypeCount( OSX_KEY_EVENT_TYPES ), OSX_KEY_EVENT_TYPES, NULL, NULL );
469 if( error != noErr ){
470 return GL_FALSE;
471 }
472
473 return GL_TRUE;
474}
475
476extern void dsPlatformSimLoop( int givenWindowWidth, int givenWindowHeight, dsFunctions *fn, int givenPause ){
477
478 functions = fn;
479
480 paused = givenPause;
481
482 osxCreateMainWindow( givenWindowWidth, givenWindowHeight );
483 osxInstallEventHandlers();
484
485 dsStartGraphics( windowWidth, windowHeight, fn );
486
487 static bool firsttime=true;
488 if( firsttime )
489 {
490 fprintf
491 (
492 stderr,
493 "\n"
494 "Simulation test environment v%d.%02d\n"
495 " Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
496 " Ctrl-O : single step when paused.\n"
497 " Ctrl-T : toggle textures (or say `-notex' on command line).\n"
498 " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
499 " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
500 " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
501 " Ctrl-X : exit.\n"
502 "\n"
503 "Change the camera position by clicking + dragging in the window.\n"
504 " Left button - pan and tilt.\n"
505 " Right button (or Ctrl + button) - forward and sideways.\n"
506 " Left + Right button (or middle button, or Alt + button) - sideways and up.\n"
507 "\n",DS_VERSION >> 8,DS_VERSION & 0xff
508 );
509 firsttime = false;
510 }
511
512 if( fn -> start ) fn->start();
513
514 int frame = 1;
515 running = true;
516 while( running ){
517 // read in and process all pending events for the main window
518 EventRef event;
519 EventTargetRef eventDispatcher = GetEventDispatcherTarget();
520 while( ReceiveNextEvent( 0, NULL, 0.0, TRUE, &event ) == noErr ){
521 SendEventToEventTarget( event, eventDispatcher );
522 ReleaseEvent( event );
523 }
524
525 dsDrawFrame( windowWidth, windowHeight, fn, paused && !singlestep );
526 singlestep = false;
527
528 glFlush();
529 aglSwapBuffers( aglContext );
530
531 // capture frames if necessary
532 if( !paused && writeframes ){
533 captureFrame( frame );
534 frame++;
535 }
536 }
537
538 if( fn->stop ) fn->stop();
539 dsStopGraphics();
540
541 osxCloseMainWindow();
542}
diff --git a/libraries/ode-0.9/drawstuff/src/resource.h b/libraries/ode-0.9/drawstuff/src/resource.h
new file mode 100644
index 0000000..15802b6
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/resource.h
@@ -0,0 +1,28 @@
1//{{NO_DEPENDENCIES}}
2// Microsoft Developer Studio generated include file.
3// Used by resources.rc
4//
5#define IDD_MSGDLG 101
6#define IDR_MENU1 102
7#define IDD_ABOUT 103
8#define IDR_ACCELERATOR1 104
9#define IDC_LIST1 1000
10#define IDM_EXIT 40001
11#define IDM_ABOUT 40002
12#define IDM_PAUSE 40003
13#define IDM_PERF_MONITOR 40004
14#define IDM_SHADOWS 40005
15#define IDM_TEXTURES 40006
16#define IDM_SAVE_SETTINGS 40007
17#define IDM_SINGLE_STEP 40008
18
19// Next default values for new objects
20//
21#ifdef APSTUDIO_INVOKED
22#ifndef APSTUDIO_READONLY_SYMBOLS
23#define _APS_NEXT_RESOURCE_VALUE 108
24#define _APS_NEXT_COMMAND_VALUE 40009
25#define _APS_NEXT_CONTROL_VALUE 1001
26#define _APS_NEXT_SYMED_VALUE 101
27#endif
28#endif
diff --git a/libraries/ode-0.9/drawstuff/src/resources.rc b/libraries/ode-0.9/drawstuff/src/resources.rc
new file mode 100644
index 0000000..61611f7
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/resources.rc
@@ -0,0 +1,153 @@
1//Microsoft Developer Studio generated resource script.
2//
3#include "resource.h"
4
5#define APSTUDIO_READONLY_SYMBOLS
6/////////////////////////////////////////////////////////////////////////////
7//
8// Generated from the TEXTINCLUDE 2 resource.
9//
10//#include "afxres.h"
11
12// added by RLS to make this work with windres
13#include "winresrc.h"
14#define IDC_STATIC (-1)
15
16/////////////////////////////////////////////////////////////////////////////
17#undef APSTUDIO_READONLY_SYMBOLS
18
19/////////////////////////////////////////////////////////////////////////////
20// English (U.S.) resources
21
22#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
23#ifdef _WIN32
24LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
25#pragma code_page(1252)
26#endif //_WIN32
27
28/////////////////////////////////////////////////////////////////////////////
29//
30// Dialog
31//
32
33IDD_ABOUT DIALOG DISCARDABLE 0, 0, 257, 105
34STYLE DS_MODALFRAME | WS_POPUP | WS_VISIBLE | WS_CAPTION | WS_SYSMENU
35CAPTION "About"
36FONT 8, "MS Sans Serif"
37BEGIN
38 DEFPUSHBUTTON "OK",IDOK,200,84,50,14
39 LTEXT "Simulation test environment",IDC_STATIC,7,7,243,8
40 LTEXT "Change the camera position by clicking + dragging in the main window.",
41 IDC_STATIC,7,24,243,8
42 LTEXT "Left button - pan and tilt.",IDC_STATIC,25,37,225,8
43 LTEXT "Right button - forward and sideways.",IDC_STATIC,25,48,
44 225,8
45 LTEXT "Left + Right button (or middle button) - sideways and up.",
46 IDC_STATIC,25,59,225,8
47END
48
49
50#ifdef APSTUDIO_INVOKED
51/////////////////////////////////////////////////////////////////////////////
52//
53// TEXTINCLUDE
54//
55
561 TEXTINCLUDE DISCARDABLE
57BEGIN
58 "resource.h\0"
59END
60
612 TEXTINCLUDE DISCARDABLE
62BEGIN
63 //"#include ""afxres.h""\r\n"
64 "\0"
65END
66
673 TEXTINCLUDE DISCARDABLE
68BEGIN
69 "\r\n"
70 "\0"
71END
72
73#endif // APSTUDIO_INVOKED
74
75
76/////////////////////////////////////////////////////////////////////////////
77//
78// Menu
79//
80
81IDR_MENU1 MENU DISCARDABLE
82BEGIN
83 POPUP "&File"
84 BEGIN
85 MENUITEM "&Exit\tCtrl+X", IDM_EXIT
86 END
87 POPUP "&Simulation"
88 BEGIN
89 MENUITEM "&Pause\tCtrl+P", IDM_PAUSE
90 MENUITEM "Single Step\tCtrl+O", IDM_SINGLE_STEP
91 MENUITEM "Performance &Monitor", IDM_PERF_MONITOR, GRAYED
92 MENUITEM SEPARATOR
93 MENUITEM "&Shadows\tCtrl+S", IDM_SHADOWS, CHECKED
94 MENUITEM "&Textures\tCtrl+T", IDM_TEXTURES, CHECKED
95 MENUITEM SEPARATOR
96 MENUITEM "S&ave Settings", IDM_SAVE_SETTINGS, GRAYED
97 END
98 POPUP "&Help"
99 BEGIN
100 MENUITEM "&About", IDM_ABOUT
101 END
102END
103
104
105/////////////////////////////////////////////////////////////////////////////
106//
107// DESIGNINFO
108//
109
110#ifdef APSTUDIO_INVOKED
111GUIDELINES DESIGNINFO DISCARDABLE
112BEGIN
113 IDD_ABOUT, DIALOG
114 BEGIN
115 LEFTMARGIN, 7
116 RIGHTMARGIN, 250
117 VERTGUIDE, 25
118 TOPMARGIN, 7
119 BOTTOMMARGIN, 98
120 END
121END
122#endif // APSTUDIO_INVOKED
123
124
125/////////////////////////////////////////////////////////////////////////////
126//
127// Accelerator
128//
129
130IDR_ACCELERATOR1 ACCELERATORS DISCARDABLE
131BEGIN
132 "O", IDM_SINGLE_STEP, VIRTKEY, CONTROL, NOINVERT
133 "P", IDM_PAUSE, VIRTKEY, CONTROL, NOINVERT
134 "S", IDM_SHADOWS, VIRTKEY, CONTROL, NOINVERT
135 "T", IDM_TEXTURES, VIRTKEY, CONTROL, NOINVERT
136 "X", IDM_EXIT, VIRTKEY, CONTROL, NOINVERT
137END
138
139#endif // English (U.S.) resources
140/////////////////////////////////////////////////////////////////////////////
141
142
143
144#ifndef APSTUDIO_INVOKED
145/////////////////////////////////////////////////////////////////////////////
146//
147// Generated from the TEXTINCLUDE 3 resource.
148//
149
150
151/////////////////////////////////////////////////////////////////////////////
152#endif // not APSTUDIO_INVOKED
153
diff --git a/libraries/ode-0.9/drawstuff/src/windows.cpp b/libraries/ode-0.9/drawstuff/src/windows.cpp
new file mode 100644
index 0000000..e2b442a
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/windows.cpp
@@ -0,0 +1,527 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built
24#include <windows.h>
25#endif
26#include <ode/config.h>
27#include <GL/gl.h>
28
29#include "resource.h"
30#include "internal.h"
31
32//***************************************************************************
33// application globals
34
35static HINSTANCE ghInstance = 0;
36static int gnCmdShow = 0;
37static HACCEL accelerators = 0;
38static HWND main_window = 0;
39
40//***************************************************************************
41// error and message handling
42
43static void errorBox (char *title, char *msg, va_list ap)
44{
45 char s[1000];
46 vsprintf (s,msg,ap);
47 MessageBox (0,s,title,MB_OK | MB_APPLMODAL | MB_ICONEXCLAMATION);
48}
49
50
51static void dsWarning (char *msg, ...)
52{
53 va_list ap;
54 va_start (ap,msg);
55 errorBox ("Warning",msg,ap);
56}
57
58
59extern "C" void dsError (char *msg, ...)
60{
61 va_list ap;
62 va_start (ap,msg);
63 errorBox ("Error",msg,ap);
64 exit (1);
65}
66
67
68extern "C" void dsDebug (char *msg, ...)
69{
70 va_list ap;
71 va_start (ap,msg);
72 errorBox ("INTERNAL ERROR",msg,ap);
73 // *((char *)0) = 0; ... commit SEGVicide ?
74 abort();
75 exit (1); // should never get here, but just in case...
76}
77
78
79extern "C" void dsPrint (char *msg, ...)
80{
81 va_list ap;
82 va_start (ap,msg);
83 vprintf (msg,ap);
84}
85
86//***************************************************************************
87// rendering thread
88
89// globals used to communicate with rendering thread
90
91static volatile int renderer_run = 1;
92static volatile int renderer_pause = 0; // 0=run, 1=pause
93static volatile int renderer_ss = 0; // single step command
94static volatile int renderer_width = 1;
95static volatile int renderer_height = 1;
96static dsFunctions *renderer_fn = 0;
97static volatile HDC renderer_dc = 0;
98static volatile int keybuffer[16]; // fifo ring buffer for keypresses
99static volatile int keybuffer_head = 0; // index of next key to put in (modified by GUI)
100static volatile int keybuffer_tail = 0; // index of next key to take out (modified by renderer)
101
102
103static void setupRendererGlobals()
104{
105 renderer_run = 1;
106 renderer_pause = 0;
107 renderer_ss = 0;
108 renderer_width = 1;
109 renderer_height = 1;
110 renderer_fn = 0;
111 renderer_dc = 0;
112 keybuffer[16];
113 keybuffer_head = 0;
114 keybuffer_tail = 0;
115}
116
117
118static DWORD WINAPI renderingThread (LPVOID lpParam)
119{
120 // create openGL context and make it current
121 HGLRC glc = wglCreateContext (renderer_dc);
122 if (glc==NULL) dsError ("could not create OpenGL context");
123 if (wglMakeCurrent (renderer_dc,glc) != TRUE)
124 dsError ("could not make OpenGL context current");
125
126 // test openGL capabilities
127 int maxtsize=0;
128 glGetIntegerv (GL_MAX_TEXTURE_SIZE,&maxtsize);
129 if (maxtsize < 128) dsWarning ("max texture size too small (%dx%d)",
130 maxtsize,maxtsize);
131
132 dsStartGraphics (renderer_width,renderer_height,renderer_fn);
133 if (renderer_fn->start) renderer_fn->start();
134
135 while (renderer_run) {
136 // need to make local copy of renderer_ss to help prevent races
137 int ss = renderer_ss;
138 dsDrawFrame (renderer_width,renderer_height,renderer_fn,
139 renderer_pause && !ss);
140 if (ss) renderer_ss = 0;
141
142 // read keys out of ring buffer and feed them to the command function
143 while (keybuffer_head != keybuffer_tail) {
144 if (renderer_fn->command) renderer_fn->command (keybuffer[keybuffer_tail]);
145 keybuffer_tail = (keybuffer_tail+1) & 15;
146 }
147
148 // swap buffers
149 SwapBuffers (renderer_dc);
150 }
151
152 if (renderer_fn->stop) renderer_fn->stop();
153 dsStopGraphics();
154
155 // delete openGL context
156 wglMakeCurrent (NULL,NULL);
157 wglDeleteContext (glc);
158
159 return 123; // magic value used to test for thread termination
160}
161
162//***************************************************************************
163// window handling
164
165// callback function for "about" dialog box
166
167static LRESULT CALLBACK AboutDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam,
168 LPARAM lParam)
169{
170 switch (uMsg) {
171 case WM_INITDIALOG:
172 return TRUE;
173 case WM_COMMAND:
174 switch (wParam) {
175 case IDOK:
176 EndDialog (hDlg, TRUE);
177 return TRUE;
178 }
179 break;
180 }
181 return FALSE;
182}
183
184
185// callback function for the main window
186
187static LRESULT CALLBACK mainWndProc (HWND hWnd, UINT msg, WPARAM wParam,
188 LPARAM lParam)
189{
190 static int button=0,lastx=0,lasty=0;
191 int ctrl = int(wParam & MK_CONTROL);
192
193 switch (msg) {
194 case WM_LBUTTONDOWN:
195 case WM_MBUTTONDOWN:
196 case WM_RBUTTONDOWN:
197 if (msg==WM_LBUTTONDOWN) button |= 1;
198 else if (msg==WM_MBUTTONDOWN) button |= 2;
199 else button |= 4;
200 lastx = SHORT(LOWORD(lParam));
201 lasty = SHORT(HIWORD(lParam));
202 SetCapture (hWnd);
203 break;
204
205 case WM_LBUTTONUP:
206 case WM_MBUTTONUP:
207 case WM_RBUTTONUP:
208 if (msg==WM_LBUTTONUP) button &= ~1;
209 else if (msg==WM_MBUTTONUP) button &= ~2;
210 else button &= ~4;
211 if (button==0) ReleaseCapture();
212 break;
213
214 case WM_MOUSEMOVE: {
215 int x = SHORT(LOWORD(lParam));
216 int y = SHORT(HIWORD(lParam));
217 if (button) dsMotion (button,x-lastx,y-lasty);
218 lastx = x;
219 lasty = y;
220 break;
221 }
222
223 case WM_CHAR: {
224 if (wParam >= ' ' && wParam <= 126) {
225 int nexth = (keybuffer_head+1) & 15;
226 if (nexth != keybuffer_tail) {
227 keybuffer[keybuffer_head] = int(wParam);
228 keybuffer_head = nexth;
229 }
230 }
231 break;
232 }
233
234 case WM_SIZE:
235 // lParam will contain the size of the *client* area!
236 renderer_width = LOWORD(lParam);
237 renderer_height = HIWORD(lParam);
238 break;
239
240 case WM_COMMAND:
241 switch (wParam & 0xffff) {
242 case IDM_ABOUT:
243 DialogBox (ghInstance,MAKEINTRESOURCE(IDD_ABOUT),hWnd,
244 (DLGPROC) AboutDlgProc);
245 break;
246 case IDM_PAUSE: {
247 renderer_pause ^= 1;
248 CheckMenuItem (GetMenu(hWnd),IDM_PAUSE,
249 renderer_pause ? MF_CHECKED : MF_UNCHECKED);
250 if (renderer_pause) renderer_ss = 0;
251 break;
252 }
253 case IDM_SINGLE_STEP: {
254 if (renderer_pause)
255 renderer_ss = 1;
256 else
257 SendMessage( hWnd, WM_COMMAND, IDM_PAUSE, 0 );
258 break;
259 }
260 case IDM_PERF_MONITOR: {
261 dsWarning ("Performance monitor not yet implemented.");
262 break;
263 }
264 case IDM_TEXTURES: {
265 static int tex = 1;
266 tex ^= 1;
267 CheckMenuItem (GetMenu(hWnd),IDM_TEXTURES,
268 tex ? MF_CHECKED : MF_UNCHECKED);
269 dsSetTextures (tex);
270 break;
271 }
272 case IDM_SHADOWS: {
273 static int shadows = 1;
274 shadows ^= 1;
275 CheckMenuItem (GetMenu(hWnd),IDM_SHADOWS,
276 shadows ? MF_CHECKED : MF_UNCHECKED);
277 dsSetShadows (shadows);
278 break;
279 }
280 case IDM_SAVE_SETTINGS: {
281 dsWarning ("\"Save Settings\" not yet implemented.");
282 break;
283 }
284 case IDM_EXIT:
285 PostQuitMessage (0);
286 break;
287 }
288 break;
289
290 case WM_CLOSE:
291 PostQuitMessage (0);
292 break;
293
294 default:
295 return (DefWindowProc (hWnd, msg, wParam, lParam));
296 }
297
298 return 0;
299}
300
301
302// this comes from an MSDN example. believe it or not, this is the recommended
303// way to get the console window handle.
304
305static HWND GetConsoleHwnd()
306{
307 // the console window title to a "unique" value, then find the window
308 // that has this title.
309 char title[1024];
310 wsprintf (title,"DrawStuff:%d/%d",GetTickCount(),GetCurrentProcessId());
311 SetConsoleTitle (title);
312 Sleep(40); // ensure window title has been updated
313 return FindWindow (NULL,title);
314}
315
316
317static void drawStuffStartup()
318{
319 static int startup_called = 0;
320 if (startup_called) return;
321 startup_called = 1;
322 if (!ghInstance)
323 ghInstance = GetModuleHandleA (NULL);
324 gnCmdShow = SW_SHOWNORMAL; // @@@ fix this later
325
326 // redirect standard I/O to a new console (except on cygwin)
327#ifndef __CYGWIN__
328 FreeConsole();
329 if (AllocConsole()==0) dsError ("AllocConsole() failed");
330 if (freopen ("CONIN$","rt",stdin)==0) dsError ("could not open stdin");
331 if (freopen ("CONOUT$","wt",stdout)==0) dsError ("could not open stdout");
332 if (freopen ("CONOUT$","wt",stderr)==0) dsError ("could not open stderr");
333 BringWindowToTop (GetConsoleHwnd());
334 SetConsoleTitle ("DrawStuff Messages");
335#endif
336
337 // register the window class
338 WNDCLASS wc;
339 wc.style = CS_OWNDC | CS_VREDRAW | CS_HREDRAW;
340 wc.lpfnWndProc = mainWndProc;
341 wc.cbClsExtra = 0;
342 wc.cbWndExtra = 0;
343 wc.hInstance = ghInstance;
344 wc.hIcon = LoadIcon (NULL,IDI_APPLICATION);
345 wc.hCursor = LoadCursor (NULL,IDC_ARROW);
346 wc.hbrBackground = (HBRUSH) (COLOR_WINDOW+1);
347 wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU1);
348 wc.lpszClassName = "SimAppClass";
349 if (RegisterClass (&wc)==0) dsError ("could not register window class");
350
351 // load accelerators
352 accelerators = LoadAccelerators (ghInstance,
353 MAKEINTRESOURCE(IDR_ACCELERATOR1));
354 if (accelerators==NULL) dsError ("could not load accelerators");
355}
356
357
358void dsPlatformSimLoop (int window_width, int window_height,
359 dsFunctions *fn, int initial_pause)
360{
361 drawStuffStartup();
362 setupRendererGlobals();
363 renderer_pause = initial_pause;
364
365 // create window - but first get window size for desired size of client area.
366 // if this adjustment isn't made then the openGL area will be shifted into
367 // the nonclient area and determining the frame buffer coordinate from the
368 // client area coordinate will be hard.
369 RECT winrect;
370 winrect.left = 50;
371 winrect.top = 80;
372 winrect.right = winrect.left + window_width;
373 winrect.bottom = winrect.top + window_height;
374 DWORD style = WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS;
375 AdjustWindowRect (&winrect,style,1);
376 char title[100];
377 sprintf (title,"Simulation test environment v%d.%02d",
378 DS_VERSION >> 8,DS_VERSION & 0xff);
379 main_window = CreateWindow ("SimAppClass",title,style,
380 winrect.left,winrect.top,winrect.right-winrect.left,winrect.bottom-winrect.top,
381 NULL,NULL,ghInstance,NULL);
382 if (main_window==NULL) dsError ("could not create main window");
383 ShowWindow (main_window, gnCmdShow);
384
385 HDC dc = GetDC (main_window); // get DC for this window
386 if (dc==NULL) dsError ("could not get window DC");
387
388 // set pixel format for DC
389
390 PIXELFORMATDESCRIPTOR pfd = {
391 sizeof(PIXELFORMATDESCRIPTOR), // size of this pfd
392 1, // version number
393 PFD_DRAW_TO_WINDOW | // support window
394 PFD_SUPPORT_OPENGL | // support OpenGL
395 PFD_DOUBLEBUFFER, // double buffered
396 PFD_TYPE_RGBA, // RGBA type
397 24, // 24-bit color depth
398 0, 0, 0, 0, 0, 0, // color bits ignored
399 0, // no alpha buffer
400 0, // shift bit ignored
401 0, // no accumulation buffer
402 0, 0, 0, 0, // accum bits ignored
403 32, // 32-bit z-buffer
404 0, // no stencil buffer
405 0, // no auxiliary buffer
406 PFD_MAIN_PLANE, // main layer
407 0, // reserved
408 0, 0, 0 // layer masks ignored
409 };
410 // get the best available match of pixel format for the device context
411 int iPixelFormat = ChoosePixelFormat (dc,&pfd);
412 if (iPixelFormat==0)
413 dsError ("could not find a good OpenGL pixel format");
414 // set the pixel format of the device context
415 if (SetPixelFormat (dc,iPixelFormat,&pfd)==FALSE)
416 dsError ("could not set DC pixel format for OpenGL");
417
418 // **********
419 // start the rendering thread
420
421 // set renderer globals
422 renderer_dc = dc;
423 renderer_width = window_width;
424 renderer_height = window_height;
425 renderer_fn = fn;
426
427 DWORD threadId, thirdParam = 0;
428 HANDLE hThread;
429
430 hThread = CreateThread(
431 NULL, // no security attributes
432 0, // use default stack size
433 renderingThread, // thread function
434 &thirdParam, // argument to thread function
435 0, // use default creation flags
436 &threadId); // returns the thread identifier
437
438 if (hThread==NULL) dsError ("Could not create rendering thread");
439
440 // **********
441 // start GUI message processing
442
443 MSG msg;
444 while (GetMessage (&msg,main_window,0,0)) {
445 if (!TranslateAccelerator (main_window,accelerators,&msg)) {
446 TranslateMessage (&msg);
447 DispatchMessage (&msg);
448 }
449 }
450
451 // terminate rendering thread
452 renderer_run = 0;
453 DWORD ret = WaitForSingleObject (hThread,2000);
454 if (ret==WAIT_TIMEOUT) dsWarning ("Could not kill rendering thread (1)");
455 DWORD exitcode=0;
456 if (!(GetExitCodeThread (hThread,&exitcode) && exitcode == 123))
457 dsWarning ("Could not kill rendering thread (2)");
458 CloseHandle (hThread); // dont need thread handle anymore
459
460 // destroy window
461 DestroyWindow (main_window);
462}
463
464
465extern "C" void dsStop()
466{
467 // just calling PostQuitMessage() here wont work, as this function is
468 // typically called from the rendering thread, not the GUI thread.
469 // instead we must post the message to the GUI window explicitly.
470
471 if (main_window) PostMessage (main_window,WM_QUIT,0,0);
472}
473
474
475extern "C" double dsElapsedTime()
476{
477 static double prev=0.0;
478 double curr = timeGetTime()/1000.0;
479 if (!prev)
480 prev=curr;
481 double retval = curr-prev;
482 prev=curr;
483 if (retval>1.0) retval=1.0;
484 if (retval<dEpsilon) retval=dEpsilon;
485 return retval;
486}
487
488
489// JPerkins: if running as a DLL, grab my module handle at load time so
490// I can find the accelerators table later
491
492BOOL WINAPI DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpReserved)
493{
494 switch (fdwReason)
495 {
496 case DLL_PROCESS_ATTACH:
497 ghInstance = hinstDLL;
498 break;
499 }
500 return TRUE;
501}
502
503
504// JPerkins: the new build system can set the entry point of the tests to
505// main(); this code is no longer necessary
506/*
507
508//***************************************************************************
509// windows entry point
510//
511// NOTE: WinMain is not guaranteed to be called with MinGW, because MinGW
512// always calls main if it is defined and most users of this library will
513// define their own main. So the startup functionality is kept in
514// zDriverStartup(), which is also called when dsSimulationLoop() is called.
515
516extern "C" int main (int argc, char **argv);
517
518
519int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
520 LPSTR lpCmdLine, int nCmdShow)
521{
522 drawStuffStartup();
523 return main (0,0); // @@@ should really pass cmd line arguments
524}
525
526*/
527
diff --git a/libraries/ode-0.9/drawstuff/src/x11.cpp b/libraries/ode-0.9/drawstuff/src/x11.cpp
new file mode 100644
index 0000000..639ce7b
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/src/x11.cpp
@@ -0,0 +1,418 @@
1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23// main window and event handling for X11
24
25#include <ode/config.h>
26#include <stdlib.h>
27#include <string.h>
28#include <stdarg.h>
29#include <X11/Xlib.h>
30#include <X11/Xatom.h>
31#include <X11/keysym.h>
32#include <GL/glx.h>
33
34#ifdef HAVE_SYS_TIME_H
35#include <sys/time.h>
36#endif
37
38#include <drawstuff/drawstuff.h>
39#include <drawstuff/version.h>
40#include "internal.h"
41
42//***************************************************************************
43// error handling for unix
44
45static void printMessage (char *msg1, char *msg2, va_list ap)
46{
47 fflush (stderr);
48 fflush (stdout);
49 fprintf (stderr,"\n%s: ",msg1);
50 vfprintf (stderr,msg2,ap);
51 fprintf (stderr,"\n");
52 fflush (stderr);
53}
54
55
56extern "C" void dsError (char *msg, ...)
57{
58 va_list ap;
59 va_start (ap,msg);
60 printMessage ("Error",msg,ap);
61 exit (1);
62}
63
64
65extern "C" void dsDebug (char *msg, ...)
66{
67 va_list ap;
68 va_start (ap,msg);
69 printMessage ("INTERNAL ERROR",msg,ap);
70 // *((char *)0) = 0; ... commit SEGVicide ?
71 abort();
72}
73
74
75extern "C" void dsPrint (char *msg, ...)
76{
77 va_list ap;
78 va_start (ap,msg);
79 vprintf (msg,ap);
80}
81
82//***************************************************************************
83// openGL window
84
85// X11 display info
86static Display *display=0;
87static int screen=0;
88static XVisualInfo *visual=0; // best visual for openGL
89static Colormap colormap=0; // window's colormap
90static Atom wm_protocols_atom = 0;
91static Atom wm_delete_window_atom = 0;
92
93// window and openGL
94static Window win=0; // X11 window, 0 if not initialized
95static int width=0,height=0; // window size
96static GLXContext glx_context=0; // openGL rendering context
97static int last_key_pressed=0; // last key pressed in the window
98static int run=1; // 1 if simulation running
99static int pause=0; // 1 if in `pause' mode
100static int singlestep=0; // 1 if single step key pressed
101static int writeframes=0; // 1 if frame files to be written
102
103
104static void createMainWindow (int _width, int _height)
105{
106 // create X11 display connection
107 display = XOpenDisplay (NULL);
108 if (!display) dsError ("can not open X11 display");
109 screen = DefaultScreen(display);
110
111 // get GL visual
112 static int attribList[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16,
113 GLX_RED_SIZE,4, GLX_GREEN_SIZE,4,
114 GLX_BLUE_SIZE,4, None};
115 visual = glXChooseVisual (display,screen,attribList);
116 if (!visual) dsError ("no good X11 visual found for OpenGL");
117
118 // create colormap
119 colormap = XCreateColormap (display,RootWindow(display,screen),
120 visual->visual,AllocNone);
121
122 // initialize variables
123 win = 0;
124 width = _width;
125 height = _height;
126 glx_context = 0;
127 last_key_pressed = 0;
128
129 if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
130
131 // create the window
132 XSetWindowAttributes attributes;
133 attributes.background_pixel = BlackPixel(display,screen);
134 attributes.colormap = colormap;
135 attributes.event_mask = ButtonPressMask | ButtonReleaseMask |
136 KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask |
137 StructureNotifyMask;
138 win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height,
139 0,visual->depth, InputOutput,visual->visual,
140 CWBackPixel | CWColormap | CWEventMask,&attributes);
141
142 // associate a GLX context with the window
143 glx_context = glXCreateContext (display,visual,0,GL_TRUE);
144 if (!glx_context) dsError ("can't make an OpenGL context");
145
146 // set the window title
147 XTextProperty window_name;
148 window_name.value = (unsigned char *) "Simulation";
149 window_name.encoding = XA_STRING;
150 window_name.format = 8;
151 window_name.nitems = strlen((char *) window_name.value);
152 XSetWMName (display,win,&window_name);
153
154 // participate in the window manager 'delete yourself' protocol
155 wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False);
156 wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False);
157 if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0)
158 dsError ("XSetWMProtocols() call failed");
159
160 // pop up the window
161 XMapWindow (display,win);
162 XSync (display,win);
163}
164
165
166static void destroyMainWindow()
167{
168 glXDestroyContext (display,glx_context);
169 XDestroyWindow (display,win);
170 XSync (display,0);
171 XCloseDisplay(display);
172 display = 0;
173 win = 0;
174 glx_context = 0;
175}
176
177
178static void handleEvent (XEvent &event, dsFunctions *fn)
179{
180 static int mx=0,my=0; // mouse position
181 static int mode = 0; // mouse button bits
182
183 switch (event.type) {
184
185 case ButtonPress: {
186 if (event.xbutton.button == Button1) mode |= 1;
187 if (event.xbutton.button == Button2) mode |= 2;
188 if (event.xbutton.button == Button3) mode |= 4;
189 mx = event.xbutton.x;
190 my = event.xbutton.y;
191 }
192 return;
193
194 case ButtonRelease: {
195 if (event.xbutton.button == Button1) mode &= (~1);
196 if (event.xbutton.button == Button2) mode &= (~2);
197 if (event.xbutton.button == Button3) mode &= (~4);
198 mx = event.xbutton.x;
199 my = event.xbutton.x;
200 }
201 return;
202
203 case MotionNotify: {
204 if (event.xmotion.is_hint) {
205 Window root,child;
206 unsigned int mask;
207 XQueryPointer (display,win,&root,&child,&event.xbutton.x_root,
208 &event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y,
209 &mask);
210 }
211 dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my);
212 mx = event.xmotion.x;
213 my = event.xmotion.y;
214 }
215 return;
216
217 case KeyPress: {
218 KeySym key;
219 XLookupString (&event.xkey,NULL,0,&key,0);
220 if ((event.xkey.state & ControlMask) == 0) {
221 if (key >= ' ' && key <= 126 && fn->command) fn->command (key);
222 }
223 else if (event.xkey.state & ControlMask) {
224 switch (key) {
225 case 't': case 'T':
226 dsSetTextures (dsGetTextures() ^ 1);
227 break;
228 case 's': case 'S':
229 dsSetShadows (dsGetShadows() ^ 1);
230 break;
231 case 'x': case 'X':
232 run = 0;
233 break;
234 case 'p': case 'P':
235 pause ^= 1;
236 singlestep = 0;
237 break;
238 case 'o': case 'O':
239 if (pause) singlestep = 1;
240 break;
241 case 'v': case 'V': {
242 float xyz[3],hpr[3];
243 dsGetViewpoint (xyz,hpr);
244 printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n",
245 xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]);
246 break;
247 }
248 case 'w': case 'W':
249 writeframes ^= 1;
250 if (writeframes) printf ("Now writing frames to PPM files\n");
251 break;
252 }
253 }
254 last_key_pressed = key; // a kludgy place to put this...
255 }
256 return;
257
258 case KeyRelease: {
259 // hmmmm...
260 }
261 return;
262
263 case ClientMessage:
264 if (event.xclient.message_type == wm_protocols_atom &&
265 event.xclient.format == 32 &&
266 Atom(event.xclient.data.l[0]) == wm_delete_window_atom) {
267 run = 0;
268 return;
269 }
270 return;
271
272 case ConfigureNotify:
273 width = event.xconfigure.width;
274 height = event.xconfigure.height;
275 return;
276 }
277}
278
279
280// return the index of the highest bit
281static int getHighBitIndex (unsigned int x)
282{
283 int i = 0;
284 while (x) {
285 i++;
286 x >>= 1;
287 }
288 return i-1;
289}
290
291
292// shift x left by i, where i can be positive or negative
293#define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i)))
294
295
296static void captureFrame (int num)
297{
298 fprintf (stderr,"capturing frame %04d\n",num);
299
300 char s[100];
301 sprintf (s,"frame/frame%04d.ppm",num);
302 FILE *f = fopen (s,"wb");
303 if (!f) dsError ("can't open \"%s\" for writing",s);
304 fprintf (f,"P6\n%d %d\n255\n",width,height);
305 XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap);
306
307 int rshift = 7 - getHighBitIndex (image->red_mask);
308 int gshift = 7 - getHighBitIndex (image->green_mask);
309 int bshift = 7 - getHighBitIndex (image->blue_mask);
310
311 for (int y=0; y<height; y++) {
312 for (int x=0; x<width; x++) {
313 unsigned long pixel = XGetPixel (image,x,y);
314 unsigned char b[3];
315 b[0] = SHIFTL(pixel & image->red_mask,rshift);
316 b[1] = SHIFTL(pixel & image->green_mask,gshift);
317 b[2] = SHIFTL(pixel & image->blue_mask,bshift);
318 fwrite (b,3,1,f);
319 }
320 }
321 fclose (f);
322 XDestroyImage (image);
323}
324
325
326void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
327 int initial_pause)
328{
329 pause = initial_pause;
330 createMainWindow (window_width, window_height);
331 glXMakeCurrent (display,win,glx_context);
332
333 dsStartGraphics (window_width,window_height,fn);
334
335 static bool firsttime=true;
336 if (firsttime)
337 {
338 fprintf
339 (
340 stderr,
341 "\n"
342 "Simulation test environment v%d.%02d\n"
343 " Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
344 " Ctrl-O : single step when paused.\n"
345 " Ctrl-T : toggle textures (or say `-notex' on command line).\n"
346 " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
347 " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
348 " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
349 " Ctrl-X : exit.\n"
350 "\n"
351 "Change the camera position by clicking + dragging in the window.\n"
352 " Left button - pan and tilt.\n"
353 " Right button - forward and sideways.\n"
354 " Left + Right button (or middle button) - sideways and up.\n"
355 "\n",DS_VERSION >> 8,DS_VERSION & 0xff
356 );
357 firsttime = false;
358 }
359
360 if (fn->start) fn->start();
361
362 int frame = 1;
363 run = 1;
364 while (run) {
365 // read in and process all pending events for the main window
366 XEvent event;
367 while (run && XPending (display)) {
368 XNextEvent (display,&event);
369 handleEvent (event,fn);
370 }
371
372 dsDrawFrame (width,height,fn,pause && !singlestep);
373 singlestep = 0;
374
375 glFlush();
376 glXSwapBuffers (display,win);
377 XSync (display,0);
378
379 // capture frames if necessary
380 if (pause==0 && writeframes) {
381 captureFrame (frame);
382 frame++;
383 }
384 };
385
386 if (fn->stop) fn->stop();
387 dsStopGraphics();
388
389 destroyMainWindow();
390}
391
392
393extern "C" void dsStop()
394{
395 run = 0;
396}
397
398
399extern "C" double dsElapsedTime()
400{
401#if HAVE_GETTIMEOFDAY
402 static double prev=0.0;
403 timeval tv ;
404
405 gettimeofday(&tv, 0);
406 double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
407 if (!prev)
408 prev=curr;
409 double retval = curr-prev;
410 prev=curr;
411 if (retval>1.0) retval=1.0;
412 if (retval<dEpsilon) retval=dEpsilon;
413 return retval;
414#else
415 return 0.01666; // Assume 60 fps
416#endif
417}
418
diff --git a/libraries/ode-0.9/drawstuff/textures/ground.ppm b/libraries/ode-0.9/drawstuff/textures/ground.ppm
new file mode 100644
index 0000000..5154c31
--- /dev/null
+++ b/libraries/ode-0.9/drawstuff/textures/ground.ppm
@@ -0,0 +1,6 @@
1P6
2# Created by Paint Shop Pro
3256 256
4255
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diff --git a/libraries/ode-0.9/drawstuff/textures/wood.ppm b/libraries/ode-0.9/drawstuff/textures/wood.ppm
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