add ode

1 files changed, 459 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/drawstuff/src/x11.cpp b/libs/ode-0.16.1/drawstuff/src/x11.cpp
new file mode 100644
index 0000000..2d6d313
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/x11.cpp
@@ -0,0 +1,459 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// main window and event handling for X11
+
+#include <ode/odeconfig.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <X11/Xlib.h>
+#include <X11/Xatom.h>
+#include <X11/keysym.h>
+#include <GL/glx.h>
+#include "config.h"
+#include "common.h"
+
+#ifdef HAVE_SYS_TIME_H
+#include <sys/time.h>
+#endif
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+
+#include <drawstuff/drawstuff.h>
+#include <drawstuff/version.h>
+#include "internal.h"
+
+//***************************************************************************
+// 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);
+}
+
+//***************************************************************************
+// openGL window
+
+// X11 display info
+static Display *display=0;
+static int screen=0;
+static XVisualInfo *visual=0;		// best visual for openGL
+static Colormap colormap=0;		// window's colormap
+static Atom wm_protocols_atom = 0;
+static Atom wm_delete_window_atom = 0;
+
+// window and openGL
+static Window win=0;			// X11 window, 0 if not initialized
+static int width=0,height=0;		// window size
+static GLXContext glx_context=0;	// openGL rendering context
+static int last_key_pressed=0;		// last key pressed in the window
+static int run=1;			// 1 if simulation running
+static int pausemode=0;			// 1 if in `pause' mode
+static int singlestep=0;		// 1 if single step key pressed
+static int writeframes=0;		// 1 if frame files to be written
+
+
+static void createMainWindow (int _width, int _height)
+{
+  // create X11 display connection
+  display = XOpenDisplay (NULL);
+  if (!display) dsError ("can not open X11 display");
+  screen = DefaultScreen(display);
+
+  // get GL visual
+  static int attribListDblBuf[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16,
+			     GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None};
+  static int attribList[] = {GLX_RGBA, GLX_DEPTH_SIZE,16,
+			     GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None};
+  visual = glXChooseVisual (display,screen,attribListDblBuf);
+  if (!visual) visual = glXChooseVisual (display,screen,attribList);
+  if (!visual) dsError ("no good X11 visual found for OpenGL");
+
+  // create colormap
+  colormap = XCreateColormap (display,RootWindow(display,screen),
+			      visual->visual,AllocNone);
+
+  // initialize variables
+  win = 0;
+  width = _width;
+  height = _height;
+  glx_context = 0;
+  last_key_pressed = 0;
+
+  if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
+
+  // create the window
+  XSetWindowAttributes attributes;
+  attributes.background_pixel = BlackPixel(display,screen);
+  attributes.colormap = colormap;
+  attributes.event_mask = ButtonPressMask | ButtonReleaseMask |
+    KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask |
+    StructureNotifyMask;
+  win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height,
+		       0,visual->depth, InputOutput,visual->visual,
+		       CWBackPixel | CWColormap | CWEventMask,&attributes);
+
+  // associate a GLX context with the window
+  glx_context = glXCreateContext (display,visual,0,GL_TRUE);
+  if (!glx_context) dsError ("can't make an OpenGL context");
+
+  // set the window title
+  XTextProperty window_name;
+  window_name.value = (unsigned char *) "Simulation";
+  window_name.encoding = XA_STRING;
+  window_name.format = 8;
+  window_name.nitems = strlen((char *) window_name.value);
+  XSetWMName (display,win,&window_name);
+
+  // participate in the window manager 'delete yourself' protocol
+  wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False);
+  wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False);
+  if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0)
+    dsError ("XSetWMProtocols() call failed");
+
+  // pop up the window
+  XMapWindow (display,win);
+  XSync (display,win);
+}
+
+
+static void destroyMainWindow()
+{
+  glXDestroyContext (display,glx_context);
+  XDestroyWindow (display,win);
+  XSync (display,0);
+  XCloseDisplay(display);
+  display = 0;
+  win = 0;
+  glx_context = 0;
+}
+
+
+static void handleEvent (XEvent &event, dsFunctions *fn)
+{
+  static int mx=0,my=0; 	// mouse position
+  static int mode = 0;		// mouse button bits
+
+  switch (event.type) {
+
+  case ButtonPress: {
+    if (event.xbutton.button == Button1) mode |= 1;
+    if (event.xbutton.button == Button2) mode |= 2;
+    if (event.xbutton.button == Button3) mode |= 4;
+    mx = event.xbutton.x;
+    my = event.xbutton.y;
+  }
+  return;
+
+  case ButtonRelease: {
+    if (event.xbutton.button == Button1) mode &= (~1);
+    if (event.xbutton.button == Button2) mode &= (~2);
+    if (event.xbutton.button == Button3) mode &= (~4);
+    mx = event.xbutton.x;
+    my = event.xbutton.x;
+  }
+  return;
+
+  case MotionNotify: {
+    if (event.xmotion.is_hint) {
+      Window root,child;
+      unsigned int mask;
+      XQueryPointer (display,win,&root,&child,&event.xbutton.x_root,
+		     &event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y,
+		     &mask);
+    }
+    dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my);
+    mx = event.xmotion.x;
+    my = event.xmotion.y;
+  }
+  return;
+
+  case KeyPress: {
+    KeySym key;
+    XLookupString (&event.xkey,NULL,0,&key,0);
+    if ((event.xkey.state & ControlMask) == 0) {
+      if (key >= ' ' && key <= 126 && fn->command) fn->command (key);
+    }
+    else if (event.xkey.state & ControlMask) {
+      switch (key) {
+      case 't': case 'T':
+	dsSetTextures (dsGetTextures() ^ 1);
+	break;
+      case 's': case 'S':
+	dsSetShadows (dsGetShadows() ^ 1);
+	break;
+      case 'x': case 'X':
+	run = 0;
+	break;
+      case 'p': case 'P':
+	pausemode ^= 1;
+	singlestep = 0;
+	break;
+      case 'o': case 'O':
+	if (pausemode) singlestep = 1;
+	break;
+      case 'v': 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': case 'W':
+	writeframes ^= 1;
+	if (writeframes) printf ("Now writing frames to PPM files\n");
+	break;
+      }
+    }
+    last_key_pressed = key;		// a kludgy place to put this...
+  }
+  return;
+
+  case KeyRelease: {
+    // hmmmm...
+  }
+  return;
+
+  case ClientMessage:
+    if (event.xclient.message_type == wm_protocols_atom &&
+	event.xclient.format == 32 &&
+	Atom(event.xclient.data.l[0]) == wm_delete_window_atom) {
+      run = 0;
+      return;
+    }
+    return;
+
+  case ConfigureNotify:
+    width = event.xconfigure.width;
+    height = event.xconfigure.height;
+    return;
+  }
+}
+
+
+// return the index of the highest bit
+static int getHighBitIndex (unsigned int x)
+{
+  int i = 0;
+  while (x) {
+    i++;
+    x >>= 1;
+  }
+  return i-1;
+}
+
+
+// shift x left by i, where i can be positive or negative
+#define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i)))
+
+
+static void captureFrame (int num)
+{
+  fprintf (stderr,"capturing frame %04d\n",num);
+
+  char s[100];
+  sprintf (s,"frame/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",width,height);
+  XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap);
+
+  int rshift = 7 - getHighBitIndex (image->red_mask);
+  int gshift = 7 - getHighBitIndex (image->green_mask);
+  int bshift = 7 - getHighBitIndex (image->blue_mask);
+
+  for (int y=0; y<height; y++) {
+    for (int x=0; x<width; x++) {
+      unsigned long pixel = XGetPixel (image,x,y);
+      unsigned char b[3];
+      b[0] = SHIFTL(pixel & image->red_mask,rshift);
+      b[1] = SHIFTL(pixel & image->green_mask,gshift);
+      b[2] = SHIFTL(pixel & image->blue_mask,bshift);
+      fwrite (b,3,1,f);
+    }
+  }
+  fclose (f);
+  XDestroyImage (image);
+}
+
+void processDrawFrame(int *frame, dsFunctions *fn)
+{
+  dsDrawFrame (width,height,fn,pausemode && !singlestep);
+  singlestep = 0;
+
+  glFlush();
+  glXSwapBuffers (display,win);
+  XSync (display,0);
+
+  // capture frames if necessary
+  if (pausemode==0 && writeframes) {
+    captureFrame (*frame);
+    (*frame)++;
+  }
+}
+
+void microsleep(int usecs)
+{
+#ifdef HAVE_UNISTD_H
+  usleep(usecs);
+#endif
+}
+
+void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
+			int initial_pause)
+{
+  pausemode = initial_pause;
+  createMainWindow (window_width, window_height);
+  glXMakeCurrent (display,win,glx_context);
+
+  dsStartGraphics (window_width,window_height,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 - forward and sideways.\n"
+      "   Left + Right button (or middle button) - sideways and up.\n"
+      "\n",DS_VERSION >> 8,DS_VERSION & 0xff
+    );
+    firsttime = false;
+  }
+
+  if (fn->start) fn->start();
+
+#if HAVE_GETTIMEOFDAY
+  timeval tv;
+  gettimeofday(&tv, 0);
+  double prev = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+#endif
+
+  int frame = 1;
+  run = 1;
+  while (run) {
+    // read in and process all pending events for the main window
+    XEvent event;
+    while (run && XPending (display)) {
+      XNextEvent (display,&event);
+      handleEvent (event,fn);
+    }
+    
+#if HAVE_GETTIMEOFDAY
+    gettimeofday(&tv, 0);
+    double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+    if (curr-prev >= 1.0/60.0)
+    {
+      prev = curr;
+      processDrawFrame(&frame, fn);
+    }
+    else
+      microsleep(1000);
+#else
+    processDrawFrame(&frame, fn);
+#endif
+  };
+
+  if (fn->stop) fn->stop();
+  dsStopGraphics();
+
+  destroyMainWindow();
+}
+
+
+extern "C" void dsStop()
+{
+  run = 0;
+}
+
+
+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
+}
+
+
+