1 files changed, 0 insertions, 233 deletions

diff --git a/libraries/ode-0.9/ode/demo/demo_space.cpp b/libraries/ode-0.9/ode/demo/demo_space.cpp
deleted file mode 100644
index 73101b5..0000000
--- a/libraries/ode-0.9/ode/demo/demo_space.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-testing procedure:
-  * create a bunch of random boxes
-  * test for intersections directly, put results in n^2 array
-  * get space to report collisions:
-    - all correct collisions reported
-    - no pair reported more than once
-    - no incorrect collisions reported
-
-*/
-
-
-#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 20                  // number of boxes to test
-
-
-// collision objects and globals
-
-static dSpaceID space;
-static dGeomID geom[NUM];
-static dReal bounds[NUM][6];
-static size_t good_matrix[NUM][NUM];    // correct collision matrix
-static size_t test_matrix[NUM][NUM];    // testing collision matrix
-static size_t hits[NUM];                // number of collisions a box has
-static unsigned long seed=37;
-
-
-static void init_test()
-{
-  int i,j;
-  const dReal scale = 0.5;
-
-  // set random boxes
-  dRandSetSeed (seed);
-  for (i=0; i < NUM; i++) {
-    bounds[i][0] = dRandReal()*2-1;
-    bounds[i][1] = bounds[i][0] + dRandReal()*scale;
-    bounds[i][2] = dRandReal()*2-1;
-    bounds[i][3] = bounds[i][2] + dRandReal()*scale;
-    bounds[i][4] = dRandReal()*2;
-    bounds[i][5] = bounds[i][4] + dRandReal()*scale;
-
-    if (geom[i]) dGeomDestroy (geom[i]);
-    geom[i] = dCreateBox (space,
-                          bounds[i][1] - bounds[i][0],
-                          bounds[i][3] - bounds[i][2],
-                          bounds[i][5] - bounds[i][4]);
-    dGeomSetPosition (geom[i],
-                      (bounds[i][0] + bounds[i][1])*0.5,
-                      (bounds[i][2] + bounds[i][3])*0.5,
-                      (bounds[i][4] + bounds[i][5])*0.5);
-    dGeomSetData (geom[i],(void*)(size_t)(i));
-  }
-
-  // compute all intersections and put the results in "good_matrix"
-  for (i=0; i < NUM; i++) {
-    for (j=0; j < NUM; j++) good_matrix[i][j] = 0;
-  }
-  for (i=0; i < NUM; i++) hits[i] = 0;
-
-  for (i=0; i < NUM; i++) {
-    for (j=i+1; j < NUM; j++) {
-      dReal *bounds1 = &bounds[i][0];
-      dReal *bounds2 = &bounds[j][0];
-      if (bounds1[0] > bounds2[1] ||
-          bounds1[1] < bounds2[0] ||
-          bounds1[2] > bounds2[3] ||
-          bounds1[3] < bounds2[2] ||
-          bounds1[4] > bounds2[5] ||
-          bounds1[5] < bounds2[4]) continue;
-      good_matrix[i][j] = 1;
-      good_matrix[j][i] = 1;
-      hits[i]++;
-      hits[j]++;
-    }
-  }
-}
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  size_t i,j;
-  i = (size_t) dGeomGetData (o1);
-  j = (size_t) dGeomGetData (o2);
-  if (i==j)
-    printf ("collision (%d,%d) is between the same object\n",i,j);
-  if (!good_matrix[i][j] || !good_matrix[j][i])
-    printf ("collision (%d,%d) is incorrect\n",i,j);
-  if (test_matrix[i][j] || test_matrix[j][i])
-    printf ("collision (%d,%d) reported more than once\n",i,j);
-  test_matrix[i][j] = 1;
-  test_matrix[j][i] = 1;
-}
-
-
-// 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);
-}
-
-
-static void command (int cmd)
-{
-  if (cmd == ' ') {
-    seed++;
-    init_test();
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i,j;
-
-  for (i=0; i < NUM; i++) {
-    for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
-  }
-  dSpaceCollide (space,0,&nearCallback);
-  for (i=0; i < NUM; i++) {
-    for (j=i+1; j < NUM; j++) {
-      if (good_matrix[i][j] && !test_matrix[i][j]) {
-        printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
-      }
-    }
-  }
-
-  seed++;
-  init_test();
-
-  for (i=0; i<NUM; i++) {
-    dVector3 pos,side;
-    dMatrix3 R;
-    dRSetIdentity (R);
-    for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
-    for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
-    if (hits[i] > 0) dsSetColor (1,0,0);
-    else dsSetColor (1,1,0);
-    dsDrawBox (pos,R,side);
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-
-  // 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];
-    }
-
-  dInitODE();
-
-  // test the simple space:
-  // space = dSimpleSpaceCreate();
-
-  // test the hash space:
-  // space = dHashSpaceCreate (0);
-  // dHashSpaceSetLevels (space,-10,10);
-
-  // test the quadtree space
-  dVector3 Center = {0, 0, 0, 0};
-  dVector3 Extents = {10, 0, 10, 0};
-  space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
-
-  for (i=0; i < NUM; i++) geom[i] = 0;
-  init_test();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dSpaceDestroy (space);
-  dCloseODE();
-  return 0;
-}