1 files changed, 0 insertions, 165 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_chain2.cpp b/libraries/ode-0.9/ode/demo/demo_chain2.cpp
deleted file mode 100644
index cf35971..0000000
--- a/libraries/ode-0.9/ode/demo/demo_chain2.cpp
+++ /dev/null
@@ -1,165 +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 <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 dWorld world;
-static dSimpleSpace space (0);
-static dBody body[NUM];
-static dBallJoint joint[NUM-1];
-static dJointGroup contactgroup;
-static dBox box[NUM];
-
-
-// this is called by space.collide 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 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnected (b1,b2)) return;
-
-  // @@@ it's still more convenient to use the C interface here.
-
-  dContact contact;
-  contact.surface.mode = 0;
-  contact.surface.mu = dInfinity;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&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)
-{
-  if (!pause) {
-    static double angle = 0;
-    angle += 0.05;
-    body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
-
-    space.collide (0,&nearCallback);
-    world.step (0.05);
-
-    // remove all contact joints
-    contactgroup.empty();
-  }
-
-  dReal sides[3] = {SIDE,SIDE,SIDE};
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (int i=0; i<NUM; i++)
-    dsDrawBox (body[i].getPosition(),body[i].getRotation(),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];
-    }
-
-  // create world
-  dInitODE();
-
-  int i;
-  contactgroup.create (0);
-  world.setGravity (0,0,-0.5);
-  dWorldSetCFM (world.id(),1e-5);
-  dPlane plane (space,0,0,1,0);
-
-  for (i=0; i<NUM; i++) {
-    body[i].create (world);
-    dReal k = i*SIDE;
-    body[i].setPosition (k,k,k+0.4);
-    dMass m;
-    m.setBox (1,SIDE,SIDE,SIDE);
-    m.adjust (MASS);
-    body[i].setMass (&m);
-    body[i].setData ((void*)(size_t)i);
-
-    box[i].create (space,SIDE,SIDE,SIDE);
-    box[i].setBody (body[i]);
-  }
-  for (i=0; i<(NUM-1); i++) {
-    joint[i].create (world);
-    joint[i].attach (body[i],body[i+1]);
-    dReal k = (i+0.5)*SIDE;
-    joint[i].setAnchor (k,k,k+0.4);
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dCloseODE();
-  return 0;
-}