add ode

1 files changed, 347 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/drawstuff/src/osx.cpp b/libs/ode-0.16.1/drawstuff/src/osx.cpp
new file mode 100644
index 0000000..bc69bfe
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/osx.cpp
@@ -0,0 +1,347 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Platform-specific code for Mac OS X using Carbon+AGL
+//
+// Created using x11.cpp and the window-initialization -routines from GLFW
+// as reference.
+// Not thoroughly tested and is certain to contain deficiencies and bugs
+
+#include <ode/odeconfig.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include "config.h"
+#include "common.h"
+
+#ifdef HAVE_SYS_TIME_H
+#include <sys/time.h>
+#endif
+
+#include <drawstuff/drawstuff.h>
+#include <drawstuff/version.h>
+#include "internal.h"
+
+#include <OpenGL/gl.h>
+#include <GLUT/glut.h>
+
+// Global variables
+
+static bool paused = false;			// 1 if in `pause' mode
+static bool singlestep = false;		// 1 if single step key pressed
+static bool writeframes = false;	// 1 if frame files to be written
+
+static int					   	windowWidth = -1;
+static int					   	windowHeight = -1;
+static int 						mouseButtonMode = 0;	
+static bool						mouseWithOption = false;	// Set if dragging the mouse with alt pressed
+static bool						mouseWithControl = false;	// Set if dragging the mouse with ctrl pressed
+
+static dsFunctions*			   	functions = NULL;
+static int                   	windowReference;
+static int                      frame = 1;
+static int                      prev_x = 0;
+static int                      prev_y = 0;
+
+//***************************************************************************
+// error handling for unix
+
+static void printMessage (const char *msg1, const char *msg2, va_list ap)
+{
+  fflush (stderr);
+  fflush (stdout);
+  fprintf (stderr,"\n%s: ",msg1);
+  vfprintf (stderr,msg2,ap);
+  fprintf (stderr,"\n");
+  fflush (stderr);
+}
+
+extern "C" void dsError (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  printMessage ("Error",msg,ap);
+  va_end (ap);
+  exit (1);
+}
+
+
+extern "C" void dsDebug (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  printMessage ("INTERNAL ERROR",msg,ap);
+  va_end (ap);
+  // *((char *)0) = 0;	 ... commit SEGVicide ?
+  abort();
+}
+
+extern "C" void dsPrint (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  vprintf (msg,ap);
+  va_end (ap);
+}
+
+static void captureFrame( int num ){
+
+  	fprintf( stderr,"\rcapturing frame %04d", num );
+	unsigned char buffer[windowWidth*windowHeight][3];
+	glReadPixels( 0, 0, windowWidth, windowHeight, GL_RGB, GL_UNSIGNED_BYTE, &buffer );
+	char s[100];
+	sprintf (s,"frame%04d.ppm",num);
+	FILE *f = fopen (s,"wb");
+	if( !f ){
+		dsError( "can't open \"%s\" for writing", s );
+	}
+	fprintf( f,"P6\n%d %d\n255\n", windowWidth, windowHeight );
+	for( int y=windowHeight-1; y>-1; y-- ){
+		fwrite( buffer[y*windowWidth], 3*windowWidth, 1, f );
+	}
+	fclose (f);	
+}
+
+extern "C" void dsStop()
+{
+}
+
+extern "C" double dsElapsedTime()
+{
+#if HAVE_GETTIMEOFDAY
+  static double prev=0.0;
+  timeval tv ;
+
+  gettimeofday(&tv, 0);
+  double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+  if (!prev)
+    prev=curr;
+  double retval = curr-prev;
+  prev=curr;
+  if (retval>1.0) retval=1.0;
+  if (retval<dEpsilon) retval=dEpsilon;
+  return retval;
+#else
+  return 0.01666; // Assume 60 fps
+#endif
+}
+
+int osxGetModifierMask()
+{
+    return glutGetModifiers() & ~GLUT_ACTIVE_SHIFT;
+}
+
+void osxKeyEventHandler( unsigned char key, int x, int y )
+{
+    unsigned char uppercase;
+    if (key >= 'a' && key <= 'z')
+        uppercase = key - ('a' - 'A');
+    else
+        uppercase = key;
+    
+    int modifierMask = osxGetModifierMask();    
+    if (modifierMask == 0)
+    {
+        if( key >= ' ' && key <= 126 && functions -> command )
+            functions -> command( key );
+    }
+    else if (modifierMask & GLUT_ACTIVE_CTRL)
+    {
+        // ctrl+key was pressed
+        uppercase += 'A' - 1;
+        switch(uppercase ){
+            case 'T':
+                dsSetTextures( !dsGetTextures() );
+                break;
+            case 'S':
+                dsSetShadows( !dsGetShadows() );
+                break;
+            case 'X':
+                exit(0);
+                break;
+            case 'P':
+                paused = !paused;
+                singlestep = false;
+                break;
+            case 'O':
+                if( paused ){
+                    singlestep = true;
+                }
+                break;
+            case 'V': {
+                float xyz[3],hpr[3];
+                dsGetViewpoint( xyz,hpr );
+                printf( "Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", xyz[0], xyz[1], xyz[2], hpr[0], hpr[1], hpr[2] );
+                break;
+            }
+            case 'W':						
+                writeframes = !writeframes;
+                if( writeframes ){
+                    printf( "Now writing frames to PPM files\n" );
+                }						 
+                break;
+        }
+    }
+}
+
+void osxMouseEventHandler(int button, int state, int x, int y)
+{
+    prev_x = x;
+    prev_y = y;
+	bool buttonDown = false;
+    switch( state ){
+        case GLUT_DOWN:
+			buttonDown = true;
+        case GLUT_UP:
+            if( button == GLUT_LEFT_BUTTON ){
+                int modifierMask = osxGetModifierMask();
+                if( modifierMask & GLUT_ACTIVE_CTRL ){
+                    // Ctrl+button == right
+                    button = GLUT_RIGHT_BUTTON;
+                    mouseWithControl = true;
+                }	
+                else if( modifierMask & GLUT_ACTIVE_ALT ){
+                    // Alt+button == left+right
+                    mouseButtonMode = 5;
+                    mouseWithOption = true;
+                    return;
+                }
+            }
+            if( buttonDown ){
+                if( button == GLUT_LEFT_BUTTON ) mouseButtonMode |= 1;		// Left
+                if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode |= 2;	// Middle				
+                if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode |= 4;	    // Right
+            }
+            else{
+                if( button == GLUT_LEFT_BUTTON ) mouseButtonMode &= (~1);	// Left
+                if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode &= (~2);	// Middle									
+                if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode &= (~4);  // Right
+            }		
+            return;
+    }
+}
+
+void osxMotionEventHandler(int x, int y)
+{
+    dsMotion( mouseButtonMode, x - prev_x, y - prev_y );
+    prev_x = x;
+    prev_y = y;
+}
+
+void osxWindowReshapeEventHandler(int width, int height)
+{
+    windowWidth = width;
+    windowHeight = height;
+}
+
+static void osxCreateMainWindow( int width, int height )
+{
+    int argc = 1;
+    char* argv[2];
+    argv[0] = (char*)"";
+    argv[1] = NULL;
+    glutInit(&argc, argv);
+    glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
+	glutInitWindowSize(width, height);
+
+    windowReference = glutCreateWindow("ODE - Drawstuff");
+	windowWidth = width;
+	windowHeight = height;
+}
+
+void osxRedisplayEventHandler()
+{
+    dsDrawFrame( windowWidth, windowHeight, functions, paused && !singlestep );
+    singlestep = false;
+    glutSwapBuffers();
+    
+    // capture frames if necessary
+    if( !paused && writeframes ){
+        captureFrame( frame );
+        frame++;
+    }
+}
+
+void osxTimerEventHandler(int);
+
+void osxInstallTimerHandler()
+{
+    glutTimerFunc(1000/60, osxTimerEventHandler, 0);
+}
+
+void osxTimerEventHandler(int)
+{
+    glutPostRedisplay();
+    osxInstallTimerHandler();
+}
+
+int  osxInstallEventHandlers()
+{
+    glutKeyboardFunc(osxKeyEventHandler);
+    glutMouseFunc(osxMouseEventHandler);
+    glutMotionFunc(osxMotionEventHandler);
+    glutDisplayFunc(osxRedisplayEventHandler);
+    glutReshapeFunc(osxWindowReshapeEventHandler);
+    osxInstallTimerHandler();    
+    return GL_TRUE;
+}
+
+extern void dsPlatformSimLoop( int givenWindowWidth, int givenWindowHeight, dsFunctions *fn, int givenPause ){
+	
+	functions = fn;
+	
+	paused = givenPause;
+	
+	osxCreateMainWindow( givenWindowWidth, givenWindowHeight );
+	osxInstallEventHandlers();
+	
+	dsStartGraphics( windowWidth, windowHeight, fn );
+	
+	static bool firsttime=true;
+	if( firsttime )
+	{
+		fprintf
+		(
+		 stderr,
+		 "\n"
+		 "Simulation test environment v%d.%02d\n"
+		 "   Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
+		 "   Ctrl-O : single step when paused.\n"
+		 "   Ctrl-T : toggle textures (or say `-notex' on command line).\n"
+		 "   Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
+		 "   Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
+		 "   Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
+		 "   Ctrl-X : exit.\n"
+		 "\n"
+		 "Change the camera position by clicking + dragging in the window.\n"
+		 "   Left button - pan and tilt.\n"
+		 "   Right button (or Ctrl + button) - forward and sideways.\n"
+		 "   Left + Right button (or middle button, or Alt + button) - sideways and up.\n"
+		 "\n",DS_VERSION >> 8,DS_VERSION & 0xff
+		 );
+		firsttime = false;
+	}
+	
+	if( fn -> start ) fn->start();
+	
+    glutMainLoop();
+}