1 files changed, 0 insertions, 254 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_I.cpp b/libraries/ode-0.9/ode/demo/demo_I.cpp
deleted file mode 100644
index b4f8d6e..0000000
--- a/libraries/ode-0.9/ode/demo/demo_I.cpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-test that the rotational physics is correct.
-
-an "anchor body" has a number of other randomly positioned bodies
-("particles") attached to it by ball-and-socket joints, giving it some
-random effective inertia tensor. the effective inertia matrix is calculated,
-and then this inertia is assigned to another "test" body. a random torque is
-applied to both bodies and the difference in angular velocity and orientation
-is observed after a number of iterations.
-
-typical errors for each test cycle are about 1e-5 ... 1e-4.
-
-*/
-
-
-#include <time.h>
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 10                  // number of particles
-#define SIDE 0.1                // visual size of the particles
-
-
-// dynamics objects an globals
-
-static dWorldID world=0;
-static dBodyID anchor_body,particle[NUM],test_body;
-static dJointID particle_joint[NUM];
-static dReal torque[3];
-static int iteration;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.5572f,-1.8886f,1.5700f};
-  static float hpr[3] = {118.5000f,-17.0000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// compute the mass parameters of a particle set. q = particle positions,
-// pm = particle masses
-
-#define _I(i,j) I[(i)*4+(j)]
-
-void computeMassParams (dMass *m, dReal q[NUM][3], dReal pm[NUM])
-{
-  int i,j;
-  dMassSetZero (m);
-  for (i=0; i<NUM; i++) {
-    m->mass += pm[i];
-    for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j];
-    m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]);
-    m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]);
-    m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]);
-    m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]);
-    m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]);
-    m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]);
-  }
-  for (j=0; j<3; j++) m->c[j] /= m->mass;
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-}
-
-
-void reset_test()
-{
-  int i;
-  dMass m,anchor_m;
-  dReal q[NUM][3], pm[NUM];     // particle positions and masses
-  dReal pos1[3] = {1,0,1};      // point of reference (POR)
-  dReal pos2[3] = {-1,0,1};     // point of reference (POR)
-
-  // make random particle positions (relative to POR) and masses
-  for (i=0; i<NUM; i++) {
-    pm[i] = dRandReal()+0.1;
-    q[i][0] = dRandReal()-0.5;
-    q[i][1] = dRandReal()-0.5;
-    q[i][2] = dRandReal()-0.5;
-  }
-
-  // adjust particle positions so centor of mass = POR
-  computeMassParams (&m,q,pm);
-  for (i=0; i<NUM; i++) {
-    q[i][0] -= m.c[0];
-    q[i][1] -= m.c[1];
-    q[i][2] -= m.c[2];
-  }
-
-  if (world) dWorldDestroy (world);
-  world = dWorldCreate();
-
-  anchor_body = dBodyCreate (world);
-  dBodySetPosition (anchor_body,pos1[0],pos1[1],pos1[2]);
-  dMassSetBox (&anchor_m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&anchor_m,0.1);
-  dBodySetMass (anchor_body,&anchor_m);
-
-  for (i=0; i<NUM; i++) {
-    particle[i] = dBodyCreate (world);
-    dBodySetPosition (particle[i],
-                      pos1[0]+q[i][0],pos1[1]+q[i][1],pos1[2]+q[i][2]);
-    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-    dMassAdjust (&m,pm[i]);
-    dBodySetMass (particle[i],&m);
-  }
-
-  for (i=0; i < NUM; i++) {
-    particle_joint[i] = dJointCreateBall (world,0);
-    dJointAttach (particle_joint[i],anchor_body,particle[i]);
-    const dReal *p = dBodyGetPosition (particle[i]);
-    dJointSetBallAnchor (particle_joint[i],p[0],p[1],p[2]);
-  }
-
-  // make test_body with the same mass and inertia of the anchor_body plus
-  // all the particles
-
-  test_body = dBodyCreate (world);
-  dBodySetPosition (test_body,pos2[0],pos2[1],pos2[2]);
-  computeMassParams (&m,q,pm);
-  m.mass += anchor_m.mass;
-  for (i=0; i<12; i++) m.I[i] = m.I[i] + anchor_m.I[i];
-  dBodySetMass (test_body,&m);
-
-  // rotate the test and anchor bodies by a random amount
-  dQuaternion qrot;
-  for (i=0; i<4; i++) qrot[i] = dRandReal()-0.5;
-  dNormalize4 (qrot);
-  dBodySetQuaternion (anchor_body,qrot);
-  dBodySetQuaternion (test_body,qrot);
-  dMatrix3 R;
-  dQtoR (qrot,R);
-  for (i=0; i<NUM; i++) {
-    dVector3 v;
-    dMultiply0 (v,R,&q[i][0],3,3,1);
-    dBodySetPosition (particle[i],pos1[0]+v[0],pos1[1]+v[1],pos1[2]+v[2]);
-  }
-
-  // set random torque
-  for (i=0; i<3; i++) torque[i] = (dRandReal()-0.5) * 0.1;
-
-
-  iteration=0;
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]);
-    dBodyAddTorque (test_body,torque[0],torque[1],torque[2]);
-    dWorldStep (world,0.03);
-
-    iteration++;
-    if (iteration >= 100) {
-      // measure the difference between the anchor and test bodies
-      const dReal *w1 = dBodyGetAngularVel (anchor_body);
-      const dReal *w2 = dBodyGetAngularVel (test_body);
-      const dReal *q1 = dBodyGetQuaternion (anchor_body);
-      const dReal *q2 = dBodyGetQuaternion (test_body);
-      dReal maxdiff = dMaxDifference (w1,w2,1,3);
-      printf ("w-error = %.4e  (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n",
-              maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]);
-      maxdiff = dMaxDifference (q1,q2,1,4);
-      printf ("q-error = %.4e\n",maxdiff);
-      reset_test();
-    }
-  }
-
-  dReal sides[3] = {SIDE,SIDE,SIDE};
-  dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE};
-  dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE};
-  dsSetColor (1,1,1);
-  dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body),
-             sides3);
-  dsSetColor (1,0,0);
-  dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2);
-  dsSetColor (1,1,0);
-  for (int i=0; i<NUM; i++)
-    dsDrawBox (dBodyGetPosition (particle[i]),
-               dBodyGetRotation (particle[i]), sides);
-}
-
-
-int main (int argc, char **argv)
-{
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  dInitODE();
-  dRandSetSeed (time(0));
-  reset_test();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}