1 files changed, 0 insertions, 171 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_chain1.c b/libraries/ode-0.9/ode/demo/demo_chain1.c
deleted file mode 100644
index e20c5dc..0000000
--- a/libraries/ode-0.9/ode/demo/demo_chain1.c
+++ /dev/null
@@ -1,171 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* exercise the C interface */
-
-#include <stdio.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 boxes */
-#define SIDE (0.2)              /* side length of a box */
-#define MASS (1.0)              /* mass of a box */
-#define RADIUS (0.1732f)        /* sphere radius */
-
-
-/* dynamics and collision objects */
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[NUM];
-static dJointID joint[NUM-1];
-static dJointGroupID contactgroup;
-static dGeomID sphere[NUM];
-
-
-/* this is called by dSpaceCollide when two objects in space are
- * potentially colliding.
- */
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  /* exit without doing anything if the two bodies are connected by a joint */
-  dBodyID b1,b2;
-  dContact contact;
-
-  b1 = dGeomGetBody(o1);
-  b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnected (b1,b2)) return;
-
-  contact.surface.mode = 0;
-  contact.surface.mu = 0.1;
-  contact.surface.mu2 = 0;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world,contactgroup,&contact);
-    dJointAttach (c,b1,b2);
-  }
-}
-
-
-/* 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);
-}
-
-
-/* simulation loop */
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    static double angle = 0;
-    angle += 0.05;
-    dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0));
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    /* remove all contact joints */
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]),
-                                      dBodyGetRotation(body[i]),RADIUS);
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-  dReal k;
-  dMass m;
-
-  /* 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];
-    }
-
-  /* create world */
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (1000000);
-  dWorldSetGravity (world,0,0,-0.5);
-  dCreatePlane (space,0,0,1,0);
-
-  for (i=0; i<NUM; i++) {
-    body[i] = dBodyCreate (world);
-    k = i*SIDE;
-    dBodySetPosition (body[i],k,k,k+0.4);
-    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-    dMassAdjust (&m,MASS);
-    dBodySetMass (body[i],&m);
-    sphere[i] = dCreateSphere (space,RADIUS);
-    dGeomSetBody (sphere[i],body[i]);
-  }
-  for (i=0; i<(NUM-1); i++) {
-    joint[i] = dJointCreateBall (world,0);
-    dJointAttach (joint[i],body[i],body[i+1]);
-    k = (i+0.5)*SIDE;
-    dJointSetBallAnchor (joint[i],k,k,k+0.4);
-  }
-
-  /* run simulation */
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}