1 files changed, 0 insertions, 577 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_boxstack.cpp b/libraries/ode-0.9/ode/demo/demo_boxstack.cpp
deleted file mode 100644
index 8d237b2..0000000
--- a/libraries/ode-0.9/ode/demo/demo_boxstack.cpp
+++ /dev/null
@@ -1,577 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-
-//<---- Convex Object
-dReal planes[]= // planes for a cube, these should coincide with the face array
-  {
-    1.0f ,0.0f ,0.0f ,0.25f,
-    0.0f ,1.0f ,0.0f ,0.25f,
-    0.0f ,0.0f ,1.0f ,0.25f,
-    -1.0f,0.0f ,0.0f ,0.25f,
-    0.0f ,-1.0f,0.0f ,0.25f,
-    0.0f ,0.0f ,-1.0f,0.25f
-    /*
-    1.0f ,0.0f ,0.0f ,2.0f,
-    0.0f ,1.0f ,0.0f ,1.0f,
-    0.0f ,0.0f ,1.0f ,1.0f,
-    0.0f ,0.0f ,-1.0f,1.0f,
-    0.0f ,-1.0f,0.0f ,1.0f,
-    -1.0f,0.0f ,0.0f ,0.0f
-    */
-  };
-const unsigned int planecount=6;
-
-dReal points[]= // points for a cube
-  {
-    0.25f,0.25f,0.25f,  //  point 0
-    -0.25f,0.25f,0.25f, //  point 1
-
-    0.25f,-0.25f,0.25f, //  point 2
-    -0.25f,-0.25f,0.25f,//  point 3
-
-    0.25f,0.25f,-0.25f, //  point 4
-    -0.25f,0.25f,-0.25f,//  point 5
-
-    0.25f,-0.25f,-0.25f,//  point 6
-    -0.25f,-0.25f,-0.25f,// point 7 
-  };
-const unsigned int pointcount=8;
-unsigned int polygons[] = //Polygons for a cube (6 squares)
-  {
-    4,0,2,6,4, // positive X
-    4,1,0,4,5, // positive Y
-    4,0,1,3,2, // positive Z
-    4,3,1,5,7, // negative X 
-    4,2,3,7,6, // negative Y
-    4,5,4,6,7, // negative Z
-  };
-//----> Convex Object
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#define dsDrawConvex dsDrawConvexD
-#endif
-
-
-// some constants
-
-#define NUM 100                 // max number of objects
-#define DENSITY (5.0)           // density of all objects
-#define GPB 3                   // maximum number of geometries per body
-#define MAX_CONTACTS 8          // maximum number of contact points per body
-#define USE_GEOM_OFFSET 1
-
-// dynamics and collision objects
-
-struct MyObject {
-  dBodyID body;                 // the body
-  dGeomID geom[GPB];            // geometries representing this body
-};
-
-static int num=0;               // number of objects in simulation
-static int nextobj=0;           // next object to recycle if num==NUM
-static dWorldID world;
-static dSpaceID space;
-static MyObject obj[NUM];
-static dJointGroupID contactgroup;
-static int selected = -1;       // selected object
-static int show_aabb = 0;       // show geom AABBs?
-static int show_contacts = 0;   // show contact points?
-static int random_pos = 1;      // drop objects from random position?
-static int write_world = 0;
-static int show_body = 1;
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i;
-  // if (o1->body && o2->body) return;
-
-  // exit without doing anything if the two bodies are connected by a joint
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
-
-  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
-  for (i=0; i<MAX_CONTACTS; i++) {
-    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
-    contact[i].surface.mu = dInfinity;
-    contact[i].surface.mu2 = 0;
-    contact[i].surface.bounce = 0.1;
-    contact[i].surface.bounce_vel = 0.1;
-    contact[i].surface.soft_cfm = 0.01;
-  }
-  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
-                           sizeof(dContact))) {
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    const dReal ss[3] = {0.02,0.02,0.02};
-    for (i=0; i<numc; i++) {
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-      dJointAttach (c,b1,b2);
-      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
-  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("To drop another object, press:\n");
-  printf ("   b for box.\n");
-  printf ("   s for sphere.\n");
-  printf ("   c for capsule.\n");
-  printf ("   y for cylinder.\n");
-  printf ("   v for a convex object.\n");
-  printf ("   x for a composite object.\n");
-  printf ("To select an object, press space.\n");
-  printf ("To disable the selected object, press d.\n");
-  printf ("To enable the selected object, press e.\n");
-  printf ("To toggle showing the geom AABBs, press a.\n");
-  printf ("To toggle showing the contact points, press t.\n");
-  printf ("To toggle dropping from random position/orientation, press r.\n");
-  printf ("To save the current state to 'state.dif', press 1.\n");
-}
-
-
-char locase (char c)
-{
-  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
-  else return c;
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  size_t i;
-  int j,k;
-  dReal sides[3];
-  dMass m;
-  int setBody;
-  
-  cmd = locase (cmd);
-  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v')
-  {
-    setBody = 0;
-    if (num < NUM) {
-      i = num;
-      num++;
-    }
-    else {
-      i = nextobj;
-      nextobj++;
-      if (nextobj >= num) nextobj = 0;
-
-      // destroy the body and geoms for slot i
-      dBodyDestroy (obj[i].body);
-      for (k=0; k < GPB; k++) {
-        if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
-      }
-      memset (&obj[i],0,sizeof(obj[i]));
-    }
-
-    obj[i].body = dBodyCreate (world);
-    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
-
-    dMatrix3 R;
-    if (random_pos) 
-      {
-        dBodySetPosition (obj[i].body,
-                          dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
-        dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-      }
-    else 
-      {
-        dReal maxheight = 0;
-        for (k=0; k<num; k++) 
-          {
-            const dReal *pos = dBodyGetPosition (obj[k].body);
-            if (pos[2] > maxheight) maxheight = pos[2];
-          }
-        dBodySetPosition (obj[i].body, 0,0,maxheight+1);
-        dRSetIdentity (R);
-        //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
-      }
-    dBodySetRotation (obj[i].body,R);
-    dBodySetData (obj[i].body,(void*) i);
-
-    if (cmd == 'b') {
-      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
-      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
-    }
-    else if (cmd == 'c') {
-      sides[0] *= 0.5;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-    //<---- Convex Object    
-    else if (cmd == 'v') 
-      {
-        dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
-        obj[i].geom[0] = dCreateConvex (space,
-                                        planes,
-                                        planecount,
-                                        points,
-                                        pointcount,
-                                        polygons);
-      }
-    //----> Convex Object
-    else if (cmd == 'y') {
-      dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
-    }
-    else if (cmd == 's') {
-      sides[0] *= 0.5;
-      dMassSetSphere (&m,DENSITY,sides[0]);
-      obj[i].geom[0] = dCreateSphere (space,sides[0]);
-    }
-    else if (cmd == 'x' && USE_GEOM_OFFSET) {
-      setBody = 1;
-      // start accumulating masses for the encapsulated geometries
-      dMass m2;
-      dMassSetZero (&m);
-
-      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
-      dMatrix3 drot[GPB];
-      
-      // set random delta positions
-      for (j=0; j<GPB; j++) {
-                for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
-      }
-    
-      for (k=0; k<GPB; k++) {
-                if (k==0) {
-                  dReal radius = dRandReal()*0.25+0.05;
-                  obj[i].geom[k] = dCreateSphere (space,radius);
-                  dMassSetSphere (&m2,DENSITY,radius);
-                }
-                else if (k==1) {
-                  obj[i].geom[k] = dCreateBox (space,sides[0],sides[1],sides[2]);
-                  dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
-                }
-                else {
-                  dReal radius = dRandReal()*0.1+0.05;
-                  dReal length = dRandReal()*1.0+0.1;
-                  obj[i].geom[k] = dCreateCapsule (space,radius,length);
-                  dMassSetCapsule (&m2,DENSITY,3,radius,length);
-                }
-
-                dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-                dMassRotate (&m2,drot[k]);
-                
-                dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-                // add to the total mass
-                dMassAdd (&m,&m2);
-                
-        }
-      for (k=0; k<GPB; k++) {
-                dGeomSetBody (obj[i].geom[k],obj[i].body);
-                dGeomSetOffsetPosition (obj[i].geom[k],
-                          dpos[k][0]-m.c[0],
-                          dpos[k][1]-m.c[1],
-                          dpos[k][2]-m.c[2]);
-                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
-      }
-      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-          dBodySetMass (obj[i].body,&m);
-                
-    }
-    else if (cmd == 'x') {
-      dGeomID g2[GPB];          // encapsulated geometries
-      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
-
-      // start accumulating masses for the encapsulated geometries
-      dMass m2;
-      dMassSetZero (&m);
-
-      // set random delta positions
-      for (j=0; j<GPB; j++) {
-        for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
-      }
-
-      for (k=0; k<GPB; k++) {
-        obj[i].geom[k] = dCreateGeomTransform (space);
-        dGeomTransformSetCleanup (obj[i].geom[k],1);
-        if (k==0) {
-          dReal radius = dRandReal()*0.25+0.05;
-          g2[k] = dCreateSphere (0,radius);
-          dMassSetSphere (&m2,DENSITY,radius);
-        }
-        else if (k==1) {
-          g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
-          dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
-        }
-        else {
-          dReal radius = dRandReal()*0.1+0.05;
-          dReal length = dRandReal()*1.0+0.1;
-          g2[k] = dCreateCapsule (0,radius,length);
-          dMassSetCapsule (&m2,DENSITY,3,radius,length);
-        }
-        dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
-
-        // set the transformation (adjust the mass too)
-        dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
-        dMatrix3 Rtx;
-        dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-        dGeomSetRotation (g2[k],Rtx);
-        dMassRotate (&m2,Rtx);
-
-        // Translation *after* rotation
-        dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-        // add to the total mass
-        dMassAdd (&m,&m2);
-      }
-
-      // move all encapsulated objects so that the center of mass is (0,0,0)
-      for (k=0; k<GPB; k++) {
-        dGeomSetPosition (g2[k],
-                          dpos[k][0]-m.c[0],
-                          dpos[k][1]-m.c[1],
-                          dpos[k][2]-m.c[2]);
-      }
-      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-    }
-
-    if (!setBody)
-     for (k=0; k < GPB; k++) {
-      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
-     }
-
-    dBodySetMass (obj[i].body,&m);
-  }
-
-  if (cmd == ' ') {
-    selected++;
-    if (selected >= num) selected = 0;
-    if (selected < 0) selected = 0;
-  }
-  else if (cmd == 'd' && selected >= 0 && selected < num) {
-    dBodyDisable (obj[selected].body);
-  }
-  else if (cmd == 'e' && selected >= 0 && selected < num) {
-    dBodyEnable (obj[selected].body);
-  }
-  else if (cmd == 'a') {
-    show_aabb ^= 1;
-  }
-  else if (cmd == 't') {
-    show_contacts ^= 1;
-  }
-  else if (cmd == 'r') {
-    random_pos ^= 1;
-  }
-  else if (cmd == '1') {
-    write_world = 1;
-  }
-}
-
-
-// draw a geom
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
-{
-  int i;
-        
-  if (!g) return;
-  if (!pos) pos = dGeomGetPosition (g);
-  if (!R) R = dGeomGetRotation (g);
-
-  int type = dGeomGetClass (g);
-  if (type == dBoxClass) {
-    dVector3 sides;
-    dGeomBoxGetLengths (g,sides);
-    dsDrawBox (pos,R,sides);
-  }
-  else if (type == dSphereClass) {
-    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
-  }
-  else if (type == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (pos,R,length,radius);
-  }
-  //<---- Convex Object
-  else if (type == dConvexClass) 
-    {
-      //dVector3 sides={0.50,0.50,0.50};
-      dsDrawConvex(pos,R,planes,
-                   planecount,
-                   points,
-                   pointcount,
-                   polygons);
-    }
-  //----> Convex Object
-  else if (type == dCylinderClass) {
-    dReal radius,length;
-    dGeomCylinderGetParams (g,&radius,&length);
-    dsDrawCylinder (pos,R,length,radius);
-  }
-  else if (type == dGeomTransformClass) {
-    dGeomID g2 = dGeomTransformGetGeom (g);
-    const dReal *pos2 = dGeomGetPosition (g2);
-    const dReal *R2 = dGeomGetRotation (g2);
-    dVector3 actual_pos;
-    dMatrix3 actual_R;
-    dMULTIPLY0_331 (actual_pos,R,pos2);
-    actual_pos[0] += pos[0];
-    actual_pos[1] += pos[1];
-    actual_pos[2] += pos[2];
-    dMULTIPLY0_333 (actual_R,R,R2);
-    drawGeom (g2,actual_pos,actual_R,0);
-  }
-  if (show_body) {
-    dBodyID body = dGeomGetBody(g);
-    if (body) {
-      const dReal *bodypos = dBodyGetPosition (body); 
-      const dReal *bodyr = dBodyGetRotation (body); 
-      dReal bodySides[3] = { 0.1, 0.1, 0.1 };
-      dsSetColorAlpha(0,1,0,1);
-      dsDrawBox(bodypos,bodyr,bodySides); 
-    }
-  }
-  if (show_aabb) {
-    // draw the bounding box for this geom
-    dReal aabb[6];
-    dGeomGetAABB (g,aabb);
-    dVector3 bbpos;
-    for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-    dVector3 bbsides;
-    for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    dsSetColorAlpha (1,0,0,0.5);
-    dsDrawBox (bbpos,RI,bbsides);
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dsSetColor (0,0,2);
-  dSpaceCollide (space,0,&nearCallback);
-  if (!pause) dWorldQuickStep (world,0.02);
-
-  if (write_world) {
-    FILE *f = fopen ("state.dif","wt");
-    if (f) {
-      dWorldExportDIF (world,f,"X");
-      fclose (f);
-    }
-    write_world = 0;
-  }
-  
-  // remove all contact joints
-  dJointGroupEmpty (contactgroup);
-
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (int i=0; i<num; i++) {
-    for (int j=0; j < GPB; j++) {
-      if (i==selected) {
-        dsSetColor (0,0.7,1);
-      }
-      else if (! dBodyIsEnabled (obj[i].body)) {
-        dsSetColor (1,0.8,0);
-      }
-      else {
-        dsSetColor (1,1,0);
-      }
-      drawGeom (obj[i].geom[j],0,0,show_aabb);
-    }
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = &command;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  dWorldSetAutoDisableFlag (world,1);
-
-#if 1
-
-  dWorldSetAutoDisableAverageSamplesCount( world, 10 );
-
-#endif
-
-
-  dWorldSetContactMaxCorrectingVel (world,0.1);
-  dWorldSetContactSurfaceLayer (world,0.001);
-  dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}