From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:07 +0000
Subject: dont ask

---
 libraries/ode-0.9/ode/demo/demo_feedback.cpp | 314 ---------------------------
 1 file changed, 314 deletions(-)
 delete mode 100644 libraries/ode-0.9/ode/demo/demo_feedback.cpp

(limited to 'libraries/ode-0.9/ode/demo/demo_feedback.cpp')

diff --git a/libraries/ode-0.9/ode/demo/demo_feedback.cpp b/libraries/ode-0.9/ode/demo/demo_feedback.cpp
deleted file mode 100644
index fd49278..0000000
--- a/libraries/ode-0.9/ode/demo/demo_feedback.cpp
+++ /dev/null
@@ -1,314 +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 for breaking joints, by Bram Stolk
-
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawCylinder dsDrawCylinderD
-#endif
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-
-static const int   STACKCNT=10;	// nr of weights on bridge
-static const int   SEGMCNT=16;	// nr of segments in bridge
-static const float SEGMDIM[3] = { 0.9, 4, 0.1 };
-
-static dGeomID  groundgeom;
-static dBodyID  segbodies[SEGMCNT];
-static dGeomID  seggeoms[SEGMCNT];
-static dBodyID  stackbodies[STACKCNT];
-static dGeomID  stackgeoms[STACKCNT];
-static dJointID hinges[SEGMCNT-1];
-static dJointID sliders[2];
-static dJointFeedback jfeedbacks[SEGMCNT-1];
-static dReal colours[SEGMCNT];
-static int stress[SEGMCNT-1];
-
-static dJointGroupID contactgroup;
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;
-      contact[i].surface.mu = 100.0;
-      contact[i].surface.soft_erp = 0.96;
-      contact[i].surface.soft_cfm = 0.02;
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c,
-		    dGeomGetBody(contact[i].geom.g1),
-		    dGeomGetBody(contact[i].geom.g2));
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = { -6, 8, 6};
-  static float hpr[3] = { -65.0f, -27.0f, 0.0f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-}
-
-
-
-void drawGeom (dGeomID g)
-{
-  const dReal *pos = dGeomGetPosition(g);
-  const dReal *R   = dGeomGetRotation(g);
-
-  int type = dGeomGetClass (g);
-  if (type == dBoxClass)
-  {
-    dVector3 sides;
-    dGeomBoxGetLengths (g, sides);
-    dsDrawBox (pos,R,sides);
-  }
-  if (type == dCylinderClass)
-  {
-    dReal r,l;
-    dGeomCylinderGetParams(g, &r, &l);
-    dsDrawCylinder (pos, R, l, r);
-  }
-}
-
-
-static void inspectJoints(void)
-{
-  const dReal forcelimit = 2000.0;
-  int i;
-  for (i=0; i<SEGMCNT-1; i++)
-  {
-    if (dJointGetBody(hinges[i], 0))
-    {
-      // This joint has not snapped already... inspect it.
-      dReal l0 = dLENGTH(jfeedbacks[i].f1);
-      dReal l1 = dLENGTH(jfeedbacks[i].f2);
-      colours[i+0] = 0.95*colours[i+0] + 0.05 * l0/forcelimit;
-      colours[i+1] = 0.95*colours[i+1] + 0.05 * l1/forcelimit;
-      if (l0 > forcelimit || l1 > forcelimit)
-        stress[i]++;
-      else
-        stress[i]=0;
-      if (stress[i]>4)
-      {
-        // Low-pass filter the noisy feedback data.
-        // Only after 4 consecutive timesteps with excessive load, snap.
-        fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i);
-        dJointAttach (hinges[i], 0, 0);
-      }
-    }
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-
-  double simstep = 0.005; // 5ms simulation steps
-  double dt = dsElapsedTime();
-  int nrofsteps = (int) ceilf(dt/simstep);
-  for (i=0; i<nrofsteps && !pause; i++)
-  {
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldQuickStep (world, simstep);
-    dJointGroupEmpty (contactgroup);
-    inspectJoints();
-  }
-
-  for (i=0; i<SEGMCNT; i++)
-  {
-    float r=0,g=0,b=0.2;
-    float v = colours[i];
-    if (v>1.0) v=1.0;
-    if (v<0.5) 
-    {
-      r=2*v;
-      g=1.0;
-    }
-    else
-    {
-      r=1.0;
-      g=2*(1.0-v);
-    }
-    dsSetColor (r,g,b);
-    drawGeom(seggeoms[i]);
-  }
-  dsSetColor (1,1,1);
-  for (i=0; i<STACKCNT; i++)
-    drawGeom(stackgeoms[i]);
-}
-
-
-
-int main (int argc, char **argv)
-{
-  dMass m;
-
-  // 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,-9.8);
-  dWorldSetQuickStepNumIterations (world, 20);
-
-  int i;
-  for (i=0; i<SEGMCNT; i++)
-  {
-    segbodies[i] = dBodyCreate (world);
-    dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5);
-    dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
-    dBodySetMass (segbodies[i], &m);
-    seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
-    dGeomSetBody (seggeoms[i], segbodies[i]);
-    dSpaceAdd (space, seggeoms[i]);
-  }
-
-  for (i=0; i<SEGMCNT-1; i++)
-  {
-    hinges[i] = dJointCreateHinge (world,0);
-    dJointAttach (hinges[i], segbodies[i],segbodies[i+1]);
-    dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5);
-    dJointSetHingeAxis (hinges[i], 0,1,0);
-    dJointSetHingeParam (hinges[i],dParamFMax,  8000.0);
-    // NOTE:
-    // Here we tell ODE where to put the feedback on the forces for this hinge
-    dJointSetFeedback (hinges[i], jfeedbacks+i);
-    stress[i]=0;
-  }
-
-  for (i=0; i<STACKCNT; i++)
-  {
-    stackbodies[i] = dBodyCreate(world);
-    dMassSetBox (&m, 2.0, 2, 2, 0.6);
-    dBodySetMass(stackbodies[i],&m);
-
-    stackgeoms[i] = dCreateBox(0, 2, 2, 0.6);
-    dGeomSetBody(stackgeoms[i], stackbodies[i]);
-    dBodySetPosition(stackbodies[i], 0,0,8+2*i);
-    dSpaceAdd(space, stackgeoms[i]);
-  }
-
-  sliders[0] = dJointCreateSlider (world,0);
-  dJointAttach(sliders[0], segbodies[0], 0);
-  dJointSetSliderAxis (sliders[0], 1,0,0);
-  dJointSetSliderParam (sliders[0],dParamFMax,  4000.0);
-  dJointSetSliderParam (sliders[0],dParamLoStop,   0.0);
-  dJointSetSliderParam (sliders[0],dParamHiStop,   0.2);
-
-  sliders[1] = dJointCreateSlider (world,0);
-  dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0);
-  dJointSetSliderAxis (sliders[1], 1,0,0);
-  dJointSetSliderParam (sliders[1],dParamFMax,  4000.0);
-  dJointSetSliderParam (sliders[1],dParamLoStop,   0.0);
-  dJointSetSliderParam (sliders[1],dParamHiStop,  -0.2);
-
-  groundgeom = dCreatePlane(space, 0,0,1,0);
-
-  for (i=0; i<SEGMCNT; i++)
-    colours[i]=0.0;
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  // First destroy seggeoms, then space, then the world.
-  for (i=0; i<SEGMCNT; i++)
-    dGeomDestroy (seggeoms[i]);
-  for (i=0; i<STACKCNT; i++)
-    dGeomDestroy (stackgeoms[i]);
-
-  dSpaceDestroy(space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
-- 
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