add ode

9 files changed, 3925 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/drawstuff/src/Makefile.am b/libs/ode-0.16.1/drawstuff/src/Makefile.am
new file mode 100644
index 0000000..911f4fd
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/Makefile.am
@@ -0,0 +1,26 @@
+# Drawstuff is meant as an aid for testing and not as a full
+# rendering library.
+
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+AM_CPPFLAGS = -I$(top_srcdir)/include \
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+        -I$(top_srcdir)/ode/src \
+        -DDEFAULT_PATH_TO_TEXTURES='"$(top_srcdir)/drawstuff/textures/"' \
+        $(X11_CFLAGS)
+
+if WIN32
+libdrawstuff_la_SOURCES+= windows.cpp resource.h resources.rc
+libdrawstuff_la_LIBADD = -lwinmm -lgdi32
+libdrawstuff_la_LDFLAGS = -no-undefined
+endif
+
+if X11
+libdrawstuff_la_SOURCES+= x11.cpp
+libdrawstuff_la_LIBADD = $(X11_LIBS)
+endif
+
+if OSX
+libdrawstuff_la_SOURCES+= osx.cpp
+endif
+
diff --git a/libs/ode-0.16.1/drawstuff/src/Makefile.in b/libs/ode-0.16.1/drawstuff/src/Makefile.in
new file mode 100644
index 0000000..4fb86f7
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/Makefile.in
@@ -0,0 +1,655 @@
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+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+cscopelist: cscopelist-am
+
+cscopelist-am: $(am__tagged_files)
+	list='$(am__tagged_files)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
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+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
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+all-am: Makefile $(LTLIBRARIES)
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+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
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+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
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+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
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+	mostlyclean-am
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+.PRECIOUS: Makefile
+
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/libs/ode-0.16.1/drawstuff/src/drawstuff.cpp b/libs/ode-0.16.1/drawstuff/src/drawstuff.cpp
new file mode 100644
index 0000000..351be93
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/drawstuff.cpp
@@ -0,0 +1,1671 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+simple graphics.
+
+the following command line flags can be used (typically under unix)
+  -notex              Do not use any textures
+  -noshadow[s]        Do not draw any shadows
+  -pause              Start the simulation paused
+  -texturepath <path> Inform an alternative textures path
+
+TODO
+----
+
+manage openGL state changes better
+
+*/
+
+#ifdef WIN32
+#include <windows.h>
+#endif
+
+#include <ode/ode.h>
+#include "config.h"
+
+#ifdef HAVE_APPLE_OPENGL_FRAMEWORK
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#else
+#include <GL/gl.h>
+#include <GL/glu.h>
+#endif
+
+#include "drawstuff/drawstuff.h"
+#include "internal.h"
+
+//***************************************************************************
+// misc
+
+#ifndef DEFAULT_PATH_TO_TEXTURES
+#if 0
+#define DEFAULT_PATH_TO_TEXTURES "..\\textures\\"
+#else
+#define DEFAULT_PATH_TO_TEXTURES "../textures/"
+#endif
+#endif
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+// constants to convert degrees to radians and the reverse
+#define RAD_TO_DEG (180.0/M_PI)
+#define DEG_TO_RAD (M_PI/180.0)
+
+// light vector. LIGHTZ is implicitly 1
+#define LIGHTX (1.0f)
+#define LIGHTY (0.4f)
+
+// ground and sky
+#define SHADOW_INTENSITY (0.65f)
+#define GROUND_R (0.5f) 	// ground color for when there's no texture
+#define GROUND_G (0.5f)
+#define GROUND_B (0.3f)
+
+const float ground_scale = 1.0f/1.0f;	// ground texture scale (1/size)
+const float ground_ofsx = 0.5;		// offset of ground texture
+const float ground_ofsy = 0.5;
+const float sky_scale = 1.0f/4.0f;	// sky texture scale (1/size)
+const float sky_height = 1.0f;		// sky height above viewpoint
+
+//***************************************************************************
+// misc mathematics stuff
+
+static void normalizeVector3 (float v[3])
+{
+  float len = v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
+  if (len <= 0.0f) {
+    v[0] = 1;
+    v[1] = 0;
+    v[2] = 0;
+  }
+  else {
+    len = 1.0f / (float)sqrt(len);
+    v[0] *= len;
+    v[1] *= len;
+    v[2] *= len;
+  }
+}
+
+static void crossProduct3(float res[3], const float a[3], const float b[3])
+{
+  float res_0 = a[1]*b[2] - a[2]*b[1];
+  float res_1 = a[2]*b[0] - a[0]*b[2];
+  float res_2 = a[0]*b[1] - a[1]*b[0];
+  // Only assign after all the calculations are over to avoid incurring memory aliasing
+  res[0] = res_0;
+  res[1] = res_1;
+  res[2] = res_2;
+}
+
+//***************************************************************************
+// PPM image object
+
+typedef unsigned char byte;
+
+class Image {
+  int image_width,image_height;
+  byte *image_data;
+public:
+  Image (char *filename);
+  // load from PPM file
+  ~Image();
+  int width() { return image_width; }
+  int height() { return image_height; }
+  byte *data() { return image_data; }
+};
+
+
+// skip over whitespace and comments in a stream.
+
+static void skipWhiteSpace (char *filename, FILE *f)
+{
+  int c,d;
+  for(;;) {
+    c = fgetc(f);
+    if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+
+    // skip comments
+    if (c == '#') {
+      do {
+	d = fgetc(f);
+	if (d==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+      } while (d != '\n');
+      continue;
+    }
+
+    if (c > ' ') {
+      ungetc (c,f);
+      return;
+    }
+  }
+}
+
+
+// read a number from a stream, this return 0 if there is none (that's okay
+// because 0 is a bad value for all PPM numbers anyway).
+
+static int readNumber (char *filename, FILE *f)
+{
+  int c,n=0;
+  for(;;) {
+    c = fgetc(f);
+    if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename);
+    if (c >= '0' && c <= '9') n = n*10 + (c - '0');
+    else {
+      ungetc (c,f);
+      return n;
+    }
+  }
+}
+
+
+Image::Image (char *filename)
+{
+  FILE *f = fopen (filename,"rb");
+  if (!f) dsError ("Can't open image file `%s'",filename);
+
+  // read in header
+  if (fgetc(f) != 'P' || fgetc(f) != '6')
+    dsError ("image file \"%s\" is not a binary PPM (no P6 header)",filename);
+  skipWhiteSpace (filename,f);
+
+  // read in image parameters
+  image_width = readNumber (filename,f);
+  skipWhiteSpace (filename,f);
+  image_height = readNumber (filename,f);
+  skipWhiteSpace (filename,f);
+  int max_value = readNumber (filename,f);
+
+  // check values
+  if (image_width < 1 || image_height < 1)
+    dsError ("bad image file \"%s\"",filename);
+  if (max_value != 255)
+    dsError ("image file \"%s\" must have color range of 255",filename);
+
+  // read either nothing, LF (10), or CR,LF (13,10)
+  int c = fgetc(f);
+  if (c == 10) {
+    // LF
+  }
+  else if (c == 13) {
+    // CR
+    c = fgetc(f);
+    if (c != 10) ungetc (c,f);
+  }
+  else ungetc (c,f);
+
+  // read in rest of data
+  image_data = new byte [image_width*image_height*3];
+  if (fread (image_data,image_width*image_height*3,1,f) != 1)
+    dsError ("Can not read data from image file `%s'",filename);
+  fclose (f);
+}
+
+
+Image::~Image()
+{
+  delete[] image_data;
+}
+
+//***************************************************************************
+// Texture object.
+
+class Texture {
+  Image *image;
+  GLuint name;
+public:
+  Texture (char *filename);
+  ~Texture();
+  void bind (int modulate);
+};
+
+
+Texture::Texture (char *filename)
+{
+  image = new Image (filename);
+  glGenTextures (1,&name);
+  glBindTexture (GL_TEXTURE_2D,name);
+
+  // set pixel unpacking mode
+  glPixelStorei (GL_UNPACK_SWAP_BYTES, 0);
+  glPixelStorei (GL_UNPACK_ROW_LENGTH, 0);
+  glPixelStorei (GL_UNPACK_ALIGNMENT, 1);
+  glPixelStorei (GL_UNPACK_SKIP_ROWS, 0);
+  glPixelStorei (GL_UNPACK_SKIP_PIXELS, 0);
+
+  // glTexImage2D (GL_TEXTURE_2D, 0, 3, image->width(), image->height(), 0,
+  //		   GL_RGB, GL_UNSIGNED_BYTE, image->data());
+  gluBuild2DMipmaps (GL_TEXTURE_2D, 3, image->width(), image->height(),
+		     GL_RGB, GL_UNSIGNED_BYTE, image->data());
+
+  // set texture parameters - will these also be bound to the texture???
+  glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+  glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+
+  glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+  glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
+		   GL_LINEAR_MIPMAP_LINEAR);
+
+  glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL);
+}
+
+
+Texture::~Texture()
+{
+  delete image;
+  glDeleteTextures (1,&name);
+}
+
+
+void Texture::bind (int modulate)
+{
+  glBindTexture (GL_TEXTURE_2D,name);
+  glTexEnvi (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE,
+	     modulate ? GL_MODULATE : GL_DECAL);
+}
+
+//***************************************************************************
+// the current drawing state (for when the user's step function is drawing)
+
+static float color[4] = {0,0,0,0};	// current r,g,b,alpha color
+static int tnum = 0;			// current texture number
+
+//***************************************************************************
+// OpenGL utility stuff
+
+static void setCamera (float x, float y, float z, float h, float p, float r)
+{
+  glMatrixMode (GL_MODELVIEW);
+  glLoadIdentity();
+  glRotatef (90, 0,0,1);
+  glRotatef (90, 0,1,0);
+  glRotatef (r, 1,0,0);
+  glRotatef (p, 0,1,0);
+  glRotatef (-h, 0,0,1);
+  glTranslatef (-x,-y,-z);
+}
+
+
+// sets the material color, not the light color
+
+static void setColor (float r, float g, float b, float alpha)
+{
+  GLfloat light_ambient[4],light_diffuse[4],light_specular[4];
+  light_ambient[0] = r*0.3f;
+  light_ambient[1] = g*0.3f;
+  light_ambient[2] = b*0.3f;
+  light_ambient[3] = alpha;
+  light_diffuse[0] = r*0.7f;
+  light_diffuse[1] = g*0.7f;
+  light_diffuse[2] = b*0.7f;
+  light_diffuse[3] = alpha;
+  light_specular[0] = r*0.2f;
+  light_specular[1] = g*0.2f;
+  light_specular[2] = b*0.2f;
+  light_specular[3] = alpha;
+  glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, light_ambient);
+  glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, light_diffuse);
+  glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, light_specular);
+  glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 5.0f);
+}
+
+
+static void setTransform (const float pos[3], const float R[12])
+{
+  GLfloat matrix[16];
+  matrix[0]=R[0];
+  matrix[1]=R[4];
+  matrix[2]=R[8];
+  matrix[3]=0;
+  matrix[4]=R[1];
+  matrix[5]=R[5];
+  matrix[6]=R[9];
+  matrix[7]=0;
+  matrix[8]=R[2];
+  matrix[9]=R[6];
+  matrix[10]=R[10];
+  matrix[11]=0;
+  matrix[12]=pos[0];
+  matrix[13]=pos[1];
+  matrix[14]=pos[2];
+  matrix[15]=1;
+  glPushMatrix();
+  glMultMatrixf (matrix);
+}
+static void setTransformD (const double pos[3], const double R[12])
+{
+  GLdouble matrix[16];
+  matrix[0]=R[0];
+  matrix[1]=R[4];
+  matrix[2]=R[8];
+  matrix[3]=0;
+  matrix[4]=R[1];
+  matrix[5]=R[5];
+  matrix[6]=R[9];
+  matrix[7]=0;
+  matrix[8]=R[2];
+  matrix[9]=R[6];
+  matrix[10]=R[10];
+  matrix[11]=0;
+  matrix[12]=pos[0];
+  matrix[13]=pos[1];
+  matrix[14]=pos[2];
+  matrix[15]=1;
+  glPushMatrix();
+  glMultMatrixd (matrix);
+}
+
+
+// set shadow projection transform
+
+static void setShadowTransform()
+{
+  GLfloat matrix[16];
+  for (int i=0; i<16; i++) matrix[i] = 0;
+  matrix[0]=1;
+  matrix[5]=1;
+  matrix[8]=-LIGHTX;
+  matrix[9]=-LIGHTY;
+  matrix[15]=1;
+  glPushMatrix();
+  glMultMatrixf (matrix);
+}
+
+static void drawConvex (const float *_planes, unsigned int _planecount,
+			const float *_points, unsigned int /*_pointcount*/,
+			const unsigned int *_polygons)
+{
+  unsigned int polyindex=0;
+  for(unsigned int i=0;i<_planecount;++i)
+    {
+      unsigned int pointcount=_polygons[polyindex];
+      polyindex++;
+      glBegin (GL_POLYGON);      
+       glNormal3f(_planes[(i*4)+0],
+		  _planes[(i*4)+1],
+		  _planes[(i*4)+2]);
+      for(unsigned int j=0;j<pointcount;++j)
+	{
+	  glVertex3f(_points[_polygons[polyindex]*3],
+		     _points[(_polygons[polyindex]*3)+1],
+		     _points[(_polygons[polyindex]*3)+2]);
+	  polyindex++;
+	}
+      glEnd();
+    }
+}
+
+static void drawConvexD (const double *_planes, unsigned int _planecount,
+			 const double *_points, unsigned int /*_pointcount*/,
+			 const unsigned int *_polygons)
+{
+  unsigned int polyindex=0;
+  for(unsigned int i=0;i<_planecount;++i)
+    {
+      unsigned int pointcount=_polygons[polyindex];
+      polyindex++;
+      glBegin (GL_POLYGON);
+      glNormal3d(_planes[(i*4)+0],
+		 _planes[(i*4)+1],
+		 _planes[(i*4)+2]);
+      for(unsigned int j=0;j<pointcount;++j)
+	{
+	  glVertex3d(_points[_polygons[polyindex]*3],
+		     _points[(_polygons[polyindex]*3)+1],
+		     _points[(_polygons[polyindex]*3)+2]);
+	  polyindex++;
+	}
+      glEnd();
+    }
+}
+
+static void drawBox (const float sides[3])
+{
+  float lx = sides[0]*0.5f;
+  float ly = sides[1]*0.5f;
+  float lz = sides[2]*0.5f;
+
+  // sides
+  glBegin (GL_TRIANGLE_STRIP);
+  glNormal3f (-1,0,0);
+  glVertex3f (-lx,-ly,-lz);
+  glVertex3f (-lx,-ly,lz);
+  glVertex3f (-lx,ly,-lz);
+  glVertex3f (-lx,ly,lz);
+  glNormal3f (0,1,0);
+  glVertex3f (lx,ly,-lz);
+  glVertex3f (lx,ly,lz);
+  glNormal3f (1,0,0);
+  glVertex3f (lx,-ly,-lz);
+  glVertex3f (lx,-ly,lz);
+  glNormal3f (0,-1,0);
+  glVertex3f (-lx,-ly,-lz);
+  glVertex3f (-lx,-ly,lz);
+  glEnd();
+
+  // top face
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3f (0,0,1);
+  glVertex3f (-lx,-ly,lz);
+  glVertex3f (lx,-ly,lz);
+  glVertex3f (lx,ly,lz);
+  glVertex3f (-lx,ly,lz);
+  glEnd();
+
+  // bottom face
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3f (0,0,-1);
+  glVertex3f (-lx,-ly,-lz);
+  glVertex3f (-lx,ly,-lz);
+  glVertex3f (lx,ly,-lz);
+  glVertex3f (lx,-ly,-lz);
+  glEnd();
+}
+
+
+// This is recursively subdivides a triangular area (vertices p1,p2,p3) into
+// smaller triangles, and then draws the triangles. All triangle vertices are
+// normalized to a distance of 1.0 from the origin (p1,p2,p3 are assumed
+// to be already normalized). Note this is not super-fast because it draws
+// triangles rather than triangle strips.
+
+static void drawPatch (float p1[3], float p2[3], float p3[3], int level)
+{
+  int i;
+  if (level > 0) {
+    float q1[3],q2[3],q3[3];		 // sub-vertices
+    for (i=0; i<3; i++) {
+      q1[i] = 0.5f*(p1[i]+p2[i]);
+      q2[i] = 0.5f*(p2[i]+p3[i]);
+      q3[i] = 0.5f*(p3[i]+p1[i]);
+    }
+    float length1 = (float)(1.0/sqrt(q1[0]*q1[0]+q1[1]*q1[1]+q1[2]*q1[2]));
+    float length2 = (float)(1.0/sqrt(q2[0]*q2[0]+q2[1]*q2[1]+q2[2]*q2[2]));
+    float length3 = (float)(1.0/sqrt(q3[0]*q3[0]+q3[1]*q3[1]+q3[2]*q3[2]));
+    for (i=0; i<3; i++) {
+      q1[i] *= length1;
+      q2[i] *= length2;
+      q3[i] *= length3;
+    }
+    drawPatch (p1,q1,q3,level-1);
+    drawPatch (q1,p2,q2,level-1);
+    drawPatch (q1,q2,q3,level-1);
+    drawPatch (q3,q2,p3,level-1);
+  }
+  else {
+    glNormal3f (p1[0],p1[1],p1[2]);
+    glVertex3f (p1[0],p1[1],p1[2]);
+    glNormal3f (p2[0],p2[1],p2[2]);
+    glVertex3f (p2[0],p2[1],p2[2]);
+    glNormal3f (p3[0],p3[1],p3[2]);
+    glVertex3f (p3[0],p3[1],p3[2]);
+  }
+}
+
+
+// draw a sphere of radius 1
+
+static int sphere_quality = 1;
+
+static void drawSphere()
+{
+  // icosahedron data for an icosahedron of radius 1.0
+# define ICX 0.525731112119133606f
+# define ICZ 0.850650808352039932f
+  static GLfloat idata[12][3] = {
+    {-ICX, 0, ICZ},
+    {ICX, 0, ICZ},
+    {-ICX, 0, -ICZ},
+    {ICX, 0, -ICZ},
+    {0, ICZ, ICX},
+    {0, ICZ, -ICX},
+    {0, -ICZ, ICX},
+    {0, -ICZ, -ICX},
+    {ICZ, ICX, 0},
+    {-ICZ, ICX, 0},
+    {ICZ, -ICX, 0},
+    {-ICZ, -ICX, 0}
+  };
+
+  static int index[20][3] = {
+    {0, 4, 1},	  {0, 9, 4},
+    {9, 5, 4},	  {4, 5, 8},
+    {4, 8, 1},	  {8, 10, 1},
+    {8, 3, 10},   {5, 3, 8},
+    {5, 2, 3},	  {2, 7, 3},
+    {7, 10, 3},   {7, 6, 10},
+    {7, 11, 6},   {11, 0, 6},
+    {0, 1, 6},	  {6, 1, 10},
+    {9, 0, 11},   {9, 11, 2},
+    {9, 2, 5},	  {7, 2, 11},
+  };
+
+  static GLuint listnum = 0;
+  if (listnum==0) {
+    listnum = glGenLists (1);
+    glNewList (listnum,GL_COMPILE);
+    glBegin (GL_TRIANGLES);
+    for (int i=0; i<20; i++) {
+      drawPatch (&idata[index[i][2]][0],&idata[index[i][1]][0],
+		 &idata[index[i][0]][0],sphere_quality);
+    }
+    glEnd();
+    glEndList();
+  }
+  glCallList (listnum);
+}
+
+
+static void drawSphereShadow (float px, float py, float pz, float radius)
+{
+  // calculate shadow constants based on light vector
+  static int init=0;
+  static float len2,len1,scale;
+  if (!init) {
+    len2 = LIGHTX*LIGHTX + LIGHTY*LIGHTY;
+    len1 = 1.0f/(float)sqrt(len2);
+    scale = (float) sqrt(len2 + 1);
+    init = 1;
+  }
+
+  // map sphere center to ground plane based on light vector
+  px -= LIGHTX*pz;
+  py -= LIGHTY*pz;
+
+  const float kx = 0.96592582628907f;
+  const float ky = 0.25881904510252f;
+  float x=radius, y=0;
+
+  glBegin (GL_TRIANGLE_FAN);
+  for (int i=0; i<24; i++) {
+    // for all points on circle, scale to elongated rotated shadow and draw
+    float x2 = (LIGHTX*x*scale - LIGHTY*y)*len1 + px;
+    float y2 = (LIGHTY*x*scale + LIGHTX*y)*len1 + py;
+    glTexCoord2f (x2*ground_scale+ground_ofsx,y2*ground_scale+ground_ofsy);
+    glVertex3f (x2,y2,0);
+
+    // rotate [x,y] vector
+    float xtmp = kx*x - ky*y;
+    y = ky*x + kx*y;
+    x = xtmp;
+  }
+  glEnd();
+}
+
+
+static void drawTriangle (const float *v0, const float *v1, const float *v2, int solid)
+{
+  float u[3],v[3],normal[3];
+  u[0] = v1[0] - v0[0];
+  u[1] = v1[1] - v0[1];
+  u[2] = v1[2] - v0[2];
+  v[0] = v2[0] - v0[0];
+  v[1] = v2[1] - v0[1];
+  v[2] = v2[2] - v0[2];
+  crossProduct3(normal,u,v);
+  normalizeVector3 (normal);
+
+  glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
+  glNormal3fv (normal);
+  glVertex3fv (v0);
+  glVertex3fv (v1);
+  glVertex3fv (v2);
+  glEnd();
+}
+
+static void drawTriangleD (const double *v0, const double *v1, const double *v2, int solid)
+{
+  float u[3],v[3],normal[3];
+  u[0] = float( v1[0] - v0[0] );
+  u[1] = float( v1[1] - v0[1] );
+  u[2] = float( v1[2] - v0[2] );
+  v[0] = float( v2[0] - v0[0] );
+  v[1] = float( v2[1] - v0[1] );
+  v[2] = float( v2[2] - v0[2] );
+  crossProduct3(normal,u,v);
+  normalizeVector3 (normal);
+
+  glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP);
+  glNormal3fv (normal);
+  glVertex3dv (v0);
+  glVertex3dv (v1);
+  glVertex3dv (v2);
+  glEnd();
+}
+
+
+// draw a capped cylinder of length l and radius r, aligned along the x axis
+
+static int capped_cylinder_quality = 3;
+
+static void drawCapsule (float l, float r)
+{
+  int i,j;
+  float tmp,nx,ny,nz,start_nx,start_ny,a,ca,sa;
+  // number of sides to the cylinder (divisible by 4):
+  const int n = capped_cylinder_quality*4;
+
+  l *= 0.5;
+  a = float(M_PI*2.0)/float(n);
+  sa = (float) sin(a);
+  ca = (float) cos(a);
+
+  // draw cylinder body
+  ny=1; nz=0;		  // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_STRIP);
+  for (i=0; i<=n; i++) {
+    glNormal3d (ny,nz,0);
+    glVertex3d (ny*r,nz*r,l);
+    glNormal3d (ny,nz,0);
+    glVertex3d (ny*r,nz*r,-l);
+    // rotate ny,nz
+    tmp = ca*ny - sa*nz;
+    nz = sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+
+  // draw first cylinder cap
+  start_nx = 0;
+  start_ny = 1;
+  for (j=0; j<(n/4); j++) {
+    // get start_n2 = rotated start_n
+    float start_nx2 =  ca*start_nx + sa*start_ny;
+    float start_ny2 = -sa*start_nx + ca*start_ny;
+    // get n=start_n and n2=start_n2
+    nx = start_nx; ny = start_ny; nz = 0;
+    float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
+    glBegin (GL_TRIANGLE_STRIP);
+    for (i=0; i<=n; i++) {
+      glNormal3d (ny2,nz2,nx2);
+      glVertex3d (ny2*r,nz2*r,l+nx2*r);
+      glNormal3d (ny,nz,nx);
+      glVertex3d (ny*r,nz*r,l+nx*r);
+      // rotate n,n2
+      tmp = ca*ny - sa*nz;
+      nz = sa*ny + ca*nz;
+      ny = tmp;
+      tmp = ca*ny2- sa*nz2;
+      nz2 = sa*ny2 + ca*nz2;
+      ny2 = tmp;
+    }
+    glEnd();
+    start_nx = start_nx2;
+    start_ny = start_ny2;
+  }
+
+  // draw second cylinder cap
+  start_nx = 0;
+  start_ny = 1;
+  for (j=0; j<(n/4); j++) {
+    // get start_n2 = rotated start_n
+    float start_nx2 = ca*start_nx - sa*start_ny;
+    float start_ny2 = sa*start_nx + ca*start_ny;
+    // get n=start_n and n2=start_n2
+    nx = start_nx; ny = start_ny; nz = 0;
+    float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0;
+    glBegin (GL_TRIANGLE_STRIP);
+    for (i=0; i<=n; i++) {
+      glNormal3d (ny,nz,nx);
+      glVertex3d (ny*r,nz*r,-l+nx*r);
+      glNormal3d (ny2,nz2,nx2);
+      glVertex3d (ny2*r,nz2*r,-l+nx2*r);
+      // rotate n,n2
+      tmp = ca*ny - sa*nz;
+      nz = sa*ny + ca*nz;
+      ny = tmp;
+      tmp = ca*ny2- sa*nz2;
+      nz2 = sa*ny2 + ca*nz2;
+      ny2 = tmp;
+    }
+    glEnd();
+    start_nx = start_nx2;
+    start_ny = start_ny2;
+  }
+}
+
+
+// draw a cylinder of length l and radius r, aligned along the z axis
+
+static void drawCylinder (float l, float r, float zoffset)
+{
+  int i;
+  float tmp,ny,nz,a,ca,sa;
+  const int n = 24;	// number of sides to the cylinder (divisible by 4)
+
+  l *= 0.5;
+  a = float(M_PI*2.0)/float(n);
+  sa = (float) sin(a);
+  ca = (float) cos(a);
+
+  // draw cylinder body
+  ny=1; nz=0;		  // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_STRIP);
+  for (i=0; i<=n; i++) {
+    glNormal3d (ny,nz,0);
+    glVertex3d (ny*r,nz*r,l+zoffset);
+    glNormal3d (ny,nz,0);
+    glVertex3d (ny*r,nz*r,-l+zoffset);
+    // rotate ny,nz
+    tmp = ca*ny - sa*nz;
+    nz = sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+
+  // draw top cap
+  glShadeModel (GL_FLAT);
+  ny=1; nz=0;		  // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3d (0,0,1);
+  glVertex3d (0,0,l+zoffset);
+  for (i=0; i<=n; i++) {
+    if (i==1 || i==n/2+1)
+      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+    glNormal3d (0,0,1);
+    glVertex3d (ny*r,nz*r,l+zoffset);
+    if (i==1 || i==n/2+1)
+      setColor (color[0],color[1],color[2],color[3]);
+
+    // rotate ny,nz
+    tmp = ca*ny - sa*nz;
+    nz = sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+
+  // draw bottom cap
+  ny=1; nz=0;		  // normal vector = (0,ny,nz)
+  glBegin (GL_TRIANGLE_FAN);
+  glNormal3d (0,0,-1);
+  glVertex3d (0,0,-l+zoffset);
+  for (i=0; i<=n; i++) {
+    if (i==1 || i==n/2+1)
+      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
+    glNormal3d (0,0,-1);
+    glVertex3d (ny*r,nz*r,-l+zoffset);
+    if (i==1 || i==n/2+1)
+      setColor (color[0],color[1],color[2],color[3]);
+
+    // rotate ny,nz
+    tmp = ca*ny + sa*nz;
+    nz = -sa*ny + ca*nz;
+    ny = tmp;
+  }
+  glEnd();
+}
+
+//***************************************************************************
+// motion model
+
+// current camera position and orientation
+static float view_xyz[3];	// position x,y,z
+static float view_hpr[3];	// heading, pitch, roll (degrees)
+
+
+// initialize the above variables
+
+static void initMotionModel()
+{
+  view_xyz[0] = 2;
+  view_xyz[1] = 0;
+  view_xyz[2] = 1;
+  view_hpr[0] = 180;
+  view_hpr[1] = 0;
+  view_hpr[2] = 0;
+}
+
+
+static void wrapCameraAngles()
+{
+  for (int i=0; i<3; i++) {
+    while (view_hpr[i] > 180) view_hpr[i] -= 360;
+    while (view_hpr[i] < -180) view_hpr[i] += 360;
+  }
+}
+
+
+// call this to update the current camera position. the bits in `mode' say
+// if the left (1), middle (2) or right (4) mouse button is pressed, and
+// (deltax,deltay) is the amount by which the mouse pointer has moved.
+
+void dsMotion (int mode, int deltax, int deltay)
+{
+  float side = 0.01f * float(deltax);
+  float fwd = (mode==4) ? (0.01f * float(deltay)) : 0.0f;
+  float s = (float) sin (view_hpr[0]*DEG_TO_RAD);
+  float c = (float) cos (view_hpr[0]*DEG_TO_RAD);
+
+  if (mode==1) {
+    view_hpr[0] += float (deltax) * 0.5f;
+    view_hpr[1] += float (deltay) * 0.5f;
+  }
+  else {
+    view_xyz[0] += -s*side + c*fwd;
+    view_xyz[1] += c*side + s*fwd;
+    if (mode==2 || mode==5) view_xyz[2] += 0.01f * float(deltay);
+  }
+  wrapCameraAngles();
+}
+
+//***************************************************************************
+// drawing loop stuff
+
+// the current state:
+//    0 = uninitialized
+//    1 = dsSimulationLoop() called
+//    2 = dsDrawFrame() called
+static int current_state = 0;
+
+// textures and shadows
+static int use_textures=1;		// 1 if textures to be drawn
+static int use_shadows=1;		// 1 if shadows to be drawn
+static Texture *sky_texture = 0;
+static Texture *ground_texture = 0;
+static Texture *wood_texture = 0;
+static Texture *checkered_texture = 0;
+
+static Texture *texture[4+1]; // +1 since index 0 is not used
+
+
+
+#if !defined(macintosh) || defined(ODE_PLATFORM_OSX)
+
+void dsStartGraphics (int /*width*/, int /*height*/, dsFunctions *fn)
+{
+
+  const char *prefix = DEFAULT_PATH_TO_TEXTURES;
+  if (fn->version >= 2 && fn->path_to_textures) prefix = fn->path_to_textures;
+  char *s = (char*) alloca (strlen(prefix) + 20);
+
+  strcpy (s,prefix);
+  strcat (s,"/sky.ppm");
+  texture[DS_SKY] = sky_texture = new Texture (s);
+
+  strcpy (s,prefix);
+  strcat (s,"/ground.ppm");
+  texture[DS_GROUND] = ground_texture = new Texture (s);
+
+  strcpy (s,prefix);
+  strcat (s,"/wood.ppm");
+  texture[DS_WOOD] = wood_texture = new Texture (s);
+
+  strcpy (s,prefix);
+  strcat (s,"/checkered.ppm");
+  texture[DS_CHECKERED] = checkered_texture = new Texture (s);
+}
+
+#else // macintosh
+
+void dsStartGraphics (int width, int height, dsFunctions *fn)
+{
+
+   // All examples build into the same dir
+   char *prefix = "::::drawstuff:textures";
+   char *s = (char*) alloca (strlen(prefix) + 20);
+
+   strcpy (s,prefix);
+   strcat (s,":sky.ppm");
+   sky_texture = new Texture (s);
+
+   strcpy (s,prefix);
+   strcat (s,":ground.ppm");
+   ground_texture = new Texture (s);
+
+   strcpy (s,prefix);
+   strcat (s,":wood.ppm");
+   wood_texture = new Texture (s);
+}
+
+#endif
+
+
+void dsStopGraphics()
+{
+  delete sky_texture;
+  delete ground_texture;
+  delete wood_texture;
+  sky_texture = 0;
+  ground_texture = 0;
+  wood_texture = 0;
+}
+
+
+static void drawSky (float view_xyz[3])
+{
+  glDisable (GL_LIGHTING);
+  if (use_textures) {
+    glEnable (GL_TEXTURE_2D);
+    sky_texture->bind (0);
+  }
+  else {
+    glDisable (GL_TEXTURE_2D);
+    glColor3f (0,0.5,1.0);
+  }
+
+  // make sure sky depth is as far back as possible
+  glShadeModel (GL_FLAT);
+  glEnable (GL_DEPTH_TEST);
+  glDepthFunc (GL_LEQUAL);
+  glDepthRange (1,1);
+
+  const float ssize = 1000.0f;
+  static float offset = 0.0f;
+
+  float x = ssize*sky_scale;
+  float z = view_xyz[2] + sky_height;
+
+  glBegin (GL_QUADS);
+  glNormal3f (0,0,-1);
+  glTexCoord2f (-x+offset,-x+offset);
+  glVertex3f (-ssize+view_xyz[0],-ssize+view_xyz[1],z);
+  glTexCoord2f (-x+offset,x+offset);
+  glVertex3f (-ssize+view_xyz[0],ssize+view_xyz[1],z);
+  glTexCoord2f (x+offset,x+offset);
+  glVertex3f (ssize+view_xyz[0],ssize+view_xyz[1],z);
+  glTexCoord2f (x+offset,-x+offset);
+  glVertex3f (ssize+view_xyz[0],-ssize+view_xyz[1],z);
+  glEnd();
+
+  offset = offset + 0.002f;
+  if (offset > 1) offset -= 1;
+
+  glDepthFunc (GL_LESS);
+  glDepthRange (0,1);
+}
+
+
+static void drawGround()
+{
+  glDisable (GL_LIGHTING);
+  glShadeModel (GL_FLAT);
+  glEnable (GL_DEPTH_TEST);
+  glDepthFunc (GL_LESS);
+  // glDepthRange (1,1);
+
+  if (use_textures) {
+    glEnable (GL_TEXTURE_2D);
+    ground_texture->bind (0);
+  }
+  else {
+    glDisable (GL_TEXTURE_2D);
+    glColor3f (GROUND_R,GROUND_G,GROUND_B);
+  }
+
+  // ground fog seems to cause problems with TNT2 under windows
+  /*
+  GLfloat fogColor[4] = {0.5, 0.5, 0.5, 1};
+  glEnable (GL_FOG);
+  glFogi (GL_FOG_MODE, GL_EXP2);
+  glFogfv (GL_FOG_COLOR, fogColor);
+  glFogf (GL_FOG_DENSITY, 0.05f);
+  glHint (GL_FOG_HINT, GL_NICEST); // GL_DONT_CARE);
+  glFogf (GL_FOG_START, 1.0);
+  glFogf (GL_FOG_END, 5.0);
+  */
+
+  const float gsize = 100.0f;
+  const float offset = 0; // -0.001f; ... polygon offsetting doesn't work well
+
+  glBegin (GL_QUADS);
+  glNormal3f (0,0,1);
+  glTexCoord2f (-gsize*ground_scale + ground_ofsx,
+		-gsize*ground_scale + ground_ofsy);
+  glVertex3f (-gsize,-gsize,offset);
+  glTexCoord2f (gsize*ground_scale + ground_ofsx,
+		-gsize*ground_scale + ground_ofsy);
+  glVertex3f (gsize,-gsize,offset);
+  glTexCoord2f (gsize*ground_scale + ground_ofsx,
+		gsize*ground_scale + ground_ofsy);
+  glVertex3f (gsize,gsize,offset);
+  glTexCoord2f (-gsize*ground_scale + ground_ofsx,
+		gsize*ground_scale + ground_ofsy);
+  glVertex3f (-gsize,gsize,offset);
+  glEnd();
+
+  glDisable (GL_FOG);
+}
+
+
+static void drawPyramidGrid()
+{
+  // setup stuff
+  glEnable (GL_LIGHTING);
+  glDisable (GL_TEXTURE_2D);
+  glShadeModel (GL_FLAT);
+  glEnable (GL_DEPTH_TEST);
+  glDepthFunc (GL_LESS);
+
+  // draw the pyramid grid
+  for (int i=-1; i<=1; i++) {
+    for (int j=-1; j<=1; j++) {
+      glPushMatrix();
+      glTranslatef ((float)i,(float)j,(float)0);
+      if (i==1 && j==0) setColor (1,0,0,1);
+      else if (i==0 && j==1) setColor (0,0,1,1);
+      else setColor (1,1,0,1);
+      const float k = 0.03f;
+      glBegin (GL_TRIANGLE_FAN);
+      glNormal3f (0,-1,1);
+      glVertex3f (0,0,k);
+      glVertex3f (-k,-k,0);
+      glVertex3f ( k,-k,0);
+      glNormal3f (1,0,1);
+      glVertex3f ( k, k,0);
+      glNormal3f (0,1,1);
+      glVertex3f (-k, k,0);
+      glNormal3f (-1,0,1);
+      glVertex3f (-k,-k,0);
+      glEnd();
+      glPopMatrix();
+    }
+  }
+}
+
+
+void dsDrawFrame (int width, int height, dsFunctions *fn, int pause)
+{
+  if (current_state < 1) dsDebug ("internal error");
+  current_state = 2;
+
+  // setup stuff
+  glEnable (GL_LIGHTING);
+  glEnable (GL_LIGHT0);
+  glDisable (GL_TEXTURE_2D);
+  glDisable (GL_TEXTURE_GEN_S);
+  glDisable (GL_TEXTURE_GEN_T);
+  glShadeModel (GL_FLAT);
+  glEnable (GL_DEPTH_TEST);
+  glDepthFunc (GL_LESS);
+  glEnable (GL_CULL_FACE);
+  glCullFace (GL_BACK);
+  glFrontFace (GL_CCW);
+
+  // setup viewport
+  glViewport (0,0,width,height);
+  glMatrixMode (GL_PROJECTION);
+  glLoadIdentity();
+  const float vnear = 0.1f;
+  const float vfar = 100.0f;
+  const float k = 0.8f;     // view scale, 1 = +/- 45 degrees
+  if (width >= height) {
+    float k2 = float(height)/float(width);
+    glFrustum (-vnear*k,vnear*k,-vnear*k*k2,vnear*k*k2,vnear,vfar);
+  }
+  else {
+    float k2 = float(width)/float(height);
+    glFrustum (-vnear*k*k2,vnear*k*k2,-vnear*k,vnear*k,vnear,vfar);
+  }
+
+  // setup lights. it makes a difference whether this is done in the
+  // GL_PROJECTION matrix mode (lights are scene relative) or the
+  // GL_MODELVIEW matrix mode (lights are camera relative, bad!).
+  static GLfloat light_ambient[] = { 0.5, 0.5, 0.5, 1.0 };
+  static GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
+  static GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
+  glLightfv (GL_LIGHT0, GL_AMBIENT, light_ambient);
+  glLightfv (GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+  glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular);
+  glColor3f (1.0, 1.0, 1.0);
+
+  // clear the window
+  glClearColor (0.5,0.5,0.5,0);
+  glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+  // snapshot camera position (in MS Windows it is changed by the GUI thread)
+  float view2_xyz[3];
+  float view2_hpr[3];
+  memcpy (view2_xyz,view_xyz,sizeof(float)*3);
+  memcpy (view2_hpr,view_hpr,sizeof(float)*3);
+
+  // go to GL_MODELVIEW matrix mode and set the camera
+  glMatrixMode (GL_MODELVIEW);
+  glLoadIdentity();
+  setCamera (view2_xyz[0],view2_xyz[1],view2_xyz[2],
+	     view2_hpr[0],view2_hpr[1],view2_hpr[2]);
+
+  // set the light position (for some reason we have to do this in model view.
+  static GLfloat light_position[] = { LIGHTX, LIGHTY, 1.0, 0.0 };
+  glLightfv (GL_LIGHT0, GL_POSITION, light_position);
+
+  // draw the background (ground, sky etc)
+  drawSky (view2_xyz);
+  drawGround();
+
+  // draw the little markers on the ground
+  drawPyramidGrid();
+
+  // leave openGL in a known state - flat shaded white, no textures
+  glEnable (GL_LIGHTING);
+  glDisable (GL_TEXTURE_2D);
+  glShadeModel (GL_FLAT);
+  glEnable (GL_DEPTH_TEST);
+  glDepthFunc (GL_LESS);
+  glColor3f (1,1,1);
+  setColor (1,1,1,1);
+
+  // draw the rest of the objects. set drawing state first.
+  color[0] = 1;
+  color[1] = 1;
+  color[2] = 1;
+  color[3] = 1;
+  tnum = 0;
+  if (fn->step) fn->step (pause);
+}
+
+
+int dsGetShadows()
+{
+  return use_shadows;
+}
+
+
+void dsSetShadows (int a)
+{
+  use_shadows = (a != 0);
+}
+
+
+int dsGetTextures()
+{
+  return use_textures;
+}
+
+
+void dsSetTextures (int a)
+{
+  use_textures = (a != 0);
+}
+
+//***************************************************************************
+// C interface
+
+// sets lighting and texture modes, sets current color
+static void setupDrawingMode()
+{
+  glEnable (GL_LIGHTING);
+  if (tnum) {
+    if (use_textures) {
+      glEnable (GL_TEXTURE_2D);
+      texture[tnum]->bind (1);
+      glEnable (GL_TEXTURE_GEN_S);
+      glEnable (GL_TEXTURE_GEN_T);
+      glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+      glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+      static GLfloat s_params[4] = {1.0f,1.0f,0.0f,1};
+      static GLfloat t_params[4] = {0.817f,-0.817f,0.817f,1};
+      glTexGenfv (GL_S,GL_OBJECT_PLANE,s_params);
+      glTexGenfv (GL_T,GL_OBJECT_PLANE,t_params);
+    }
+    else {
+      glDisable (GL_TEXTURE_2D);
+    }
+  }
+  else {
+    glDisable (GL_TEXTURE_2D);
+  }
+  setColor (color[0],color[1],color[2],color[3]);
+
+  if (color[3] < 1) {
+    glEnable (GL_BLEND);
+    glBlendFunc (GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
+  }
+  else {
+    glDisable (GL_BLEND);
+  }
+}
+
+
+static void setShadowDrawingMode()
+{
+  glDisable (GL_LIGHTING);
+  if (use_textures) {
+    glEnable (GL_TEXTURE_2D);
+    ground_texture->bind (1);
+    glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
+    glEnable (GL_TEXTURE_2D);
+    glEnable (GL_TEXTURE_GEN_S);
+    glEnable (GL_TEXTURE_GEN_T);
+    glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
+    glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR);
+    static GLfloat s_params[4] = {ground_scale,0,0,ground_ofsx};
+    static GLfloat t_params[4] = {0,ground_scale,0,ground_ofsy};
+    glTexGenfv (GL_S,GL_EYE_PLANE,s_params);
+    glTexGenfv (GL_T,GL_EYE_PLANE,t_params);
+  }
+  else {
+    glDisable (GL_TEXTURE_2D);
+    glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
+	       GROUND_B*SHADOW_INTENSITY);
+  }
+  glDepthRange (0,0.9999);
+}
+
+
+extern "C" void dsSimulationLoop (int argc, char **argv,
+				  int window_width, int window_height,
+				  dsFunctions *fn)
+{
+  if (current_state != 0) dsError ("dsSimulationLoop() called more than once");
+  current_state = 1;
+
+  // look for flags that apply to us
+  int initial_pause = 0;
+  for (int i=1; i<argc; i++) {
+    if (strcmp(argv[i],"-notex")==0) use_textures = 0;
+    if (strcmp(argv[i],"-noshadow")==0) use_shadows = 0;
+    if (strcmp(argv[i],"-noshadows")==0) use_shadows = 0;
+    if (strcmp(argv[i],"-pause")==0) initial_pause = 1;
+    if (strcmp(argv[i],"-texturepath")==0)
+      if (++i < argc)
+        fn->path_to_textures = argv[i];
+  }
+
+  if (fn->version > DS_VERSION)
+    dsDebug ("bad version number in dsFunctions structure");
+
+  initMotionModel();
+  dsPlatformSimLoop (window_width,window_height,fn,initial_pause);
+
+  current_state = 0;
+}
+
+
+extern "C" void dsSetViewpoint (float xyz[3], float hpr[3])
+{
+  if (current_state < 1) dsError ("dsSetViewpoint() called before simulation started");
+  if (xyz) {
+    view_xyz[0] = xyz[0];
+    view_xyz[1] = xyz[1];
+    view_xyz[2] = xyz[2];
+  }
+  if (hpr) {
+    view_hpr[0] = hpr[0];
+    view_hpr[1] = hpr[1];
+    view_hpr[2] = hpr[2];
+    wrapCameraAngles();
+  }
+}
+
+
+extern "C" void dsGetViewpoint (float xyz[3], float hpr[3])
+{
+  if (current_state < 1) dsError ("dsGetViewpoint() called before simulation started");
+  if (xyz) {
+    xyz[0] = view_xyz[0];
+    xyz[1] = view_xyz[1];
+    xyz[2] = view_xyz[2];
+  }
+  if (hpr) {
+    hpr[0] = view_hpr[0];
+    hpr[1] = view_hpr[1];
+    hpr[2] = view_hpr[2];
+  }
+}
+
+
+extern "C" void dsSetTexture (int texture_number)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  tnum = texture_number;
+}
+
+
+extern "C" void dsSetColor (float red, float green, float blue)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  color[0] = red;
+  color[1] = green;
+  color[2] = blue;
+  color[3] = 1;
+}
+
+
+extern "C" void dsSetColorAlpha (float red, float green, float blue,
+				 float alpha)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  color[0] = red;
+  color[1] = green;
+  color[2] = blue;
+  color[3] = alpha;
+}
+
+
+extern "C" void dsDrawBox (const float pos[3], const float R[12],
+			   const float sides[3])
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos,R);
+  drawBox (sides);
+  glPopMatrix();
+
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+    setTransform (pos,R);
+    drawBox (sides);
+    glPopMatrix();
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+extern "C" void dsDrawConvex (const float pos[3], const float R[12],
+			      const float *_planes,unsigned int _planecount,
+			      const float *_points, unsigned int _pointcount,
+			      const unsigned int *_polygons)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos,R);
+  drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
+  glPopMatrix();
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+    setTransform (pos,R);
+    drawConvex(_planes,_planecount,_points,_pointcount,_polygons);
+    glPopMatrix();
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+
+extern "C" void dsDrawSphere (const float pos[3], const float R[12],
+			      float radius)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glEnable (GL_NORMALIZE);
+  glShadeModel (GL_SMOOTH);
+  setTransform (pos,R);
+  glScaled (radius,radius,radius);
+  drawSphere();
+  glPopMatrix();
+  glDisable (GL_NORMALIZE);
+
+  // draw shadows
+  if (use_shadows) {
+    glDisable (GL_LIGHTING);
+    if (use_textures) {
+      ground_texture->bind (1);
+      glEnable (GL_TEXTURE_2D);
+      glDisable (GL_TEXTURE_GEN_S);
+      glDisable (GL_TEXTURE_GEN_T);
+      glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY);
+    }
+    else {
+      glDisable (GL_TEXTURE_2D);
+      glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY,
+		 GROUND_B*SHADOW_INTENSITY);
+    }
+    glShadeModel (GL_FLAT);
+    glDepthRange (0,0.9999);
+    drawSphereShadow (pos[0],pos[1],pos[2],radius);
+    glDepthRange (0,1);
+  }
+}
+
+
+extern "C" void dsDrawTriangle (const float pos[3], const float R[12],
+				const float *v0, const float *v1,
+				const float *v2, int solid)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos,R);
+  drawTriangle (v0, v1, v2, solid);
+  glPopMatrix();
+}
+
+
+extern "C" void dsDrawTriangles (const float pos[3], const float R[12],
+				const float *v, int n, int solid)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos,R);
+  int i;
+  for (i = 0; i < n; ++i, v += 9)
+      drawTriangle (v, v + 3, v + 6, solid);
+  glPopMatrix();
+}
+
+
+extern "C" void dsDrawCylinder (const float pos[3], const float R[12],
+				float length, float radius)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_SMOOTH);
+  setTransform (pos,R);
+  drawCylinder (length,radius,0);
+  glPopMatrix();
+
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+    setTransform (pos,R);
+    drawCylinder (length,radius,0);
+    glPopMatrix();
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+
+extern "C" void dsDrawCapsule (const float pos[3], const float R[12],
+				      float length, float radius)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_SMOOTH);
+  setTransform (pos,R);
+  drawCapsule (length,radius);
+  glPopMatrix();
+
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+    setTransform (pos,R);
+    drawCapsule (length,radius);
+    glPopMatrix();
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+
+static void drawLine(const float pos1[3], const float pos2[3])
+{
+  glDisable (GL_LIGHTING);
+  glLineWidth (2);
+  glShadeModel (GL_FLAT);
+  glBegin (GL_LINES);
+  glVertex3f (pos1[0],pos1[1],pos1[2]);
+  glVertex3f (pos2[0],pos2[1],pos2[2]);
+  glEnd();
+}
+
+
+extern "C" void dsDrawLine (const float pos1[3], const float pos2[3])
+{
+  setupDrawingMode();
+  glColor4f(color[0], color[1], color[2], color[3]);
+  drawLine(pos1, pos2);
+
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+
+    drawLine(pos1, pos2);
+
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+
+extern "C" void dsDrawBoxD (const double pos[3], const double R[12],
+                            const double sides[3])
+{
+  int i;
+  float pos2[3],R2[12],fsides[3];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+  for (i=0; i<3; i++) fsides[i]=(float)sides[i];
+  dsDrawBox (pos2,R2,fsides);
+}
+
+extern "C" void dsDrawConvexD (const double pos[3], const double R[12],
+			       const double *_planes, unsigned int _planecount,
+			       const double *_points, unsigned int _pointcount,
+			       const unsigned int *_polygons)
+{
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransformD (pos,R);
+  drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
+  glPopMatrix();
+  if (use_shadows) {
+    setShadowDrawingMode();
+    setShadowTransform();
+    setTransformD (pos,R);
+    drawConvexD(_planes,_planecount,_points,_pointcount,_polygons);
+    glPopMatrix();
+    glPopMatrix();
+    glDepthRange (0,1);
+  }
+}
+
+void dsDrawSphereD (const double pos[3], const double R[12], float radius)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+  dsDrawSphere (pos2,R2,radius);
+}
+
+
+void dsDrawTriangleD (const double pos[3], const double R[12],
+				 const double *v0, const double *v1,
+				 const double *v2, int solid)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos2,R2);
+  drawTriangleD (v0, v1, v2, solid);
+  glPopMatrix();
+}
+
+
+extern "C" void dsDrawTrianglesD (const double pos[3], const double R[12],
+				const double *v, int n, int solid)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+
+  if (current_state != 2) dsError ("drawing function called outside simulation loop");
+  setupDrawingMode();
+  glShadeModel (GL_FLAT);
+  setTransform (pos2,R2);
+  for (i = 0; i < n; ++i, v += 9)
+      drawTriangleD (v, v + 3, v + 6, solid);
+  glPopMatrix();
+}
+
+
+void dsDrawCylinderD (const double pos[3], const double R[12],
+		      float length, float radius)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+  dsDrawCylinder (pos2,R2,length,radius);
+}
+
+
+void dsDrawCapsuleD (const double pos[3], const double R[12],
+			    float length, float radius)
+{
+  int i;
+  float pos2[3],R2[12];
+  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
+  for (i=0; i<12; i++) R2[i]=(float)R[i];
+  dsDrawCapsule (pos2,R2,length,radius);
+}
+
+
+void dsDrawLineD (const double _pos1[3], const double _pos2[3])
+{
+  int i;
+  float pos1[3],pos2[3];
+  for (i=0; i<3; i++) pos1[i]=(float)_pos1[i];
+  for (i=0; i<3; i++) pos2[i]=(float)_pos2[i];
+  dsDrawLine (pos1,pos2);
+}
+
+
+void dsSetSphereQuality (int n)
+{
+  sphere_quality = n;
+}
+
+
+void dsSetCapsuleQuality (int n)
+{
+  capped_cylinder_quality = n;
+}
+
+void dsSetDrawMode(int mode)
+{
+  switch(mode)
+    {
+    case DS_POLYFILL:
+      glPolygonMode(GL_FRONT,GL_FILL);
+      break;
+    case DS_WIREFRAME:
+      glPolygonMode(GL_FRONT,GL_LINE);
+      break;
+    }
+}
diff --git a/libs/ode-0.16.1/drawstuff/src/internal.h b/libs/ode-0.16.1/drawstuff/src/internal.h
new file mode 100644
index 0000000..de1aa11
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/internal.h
@@ -0,0 +1,50 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* functions supplied and used by the platform specific code */
+
+#ifndef __DS_INTERNAL_H
+#define __DS_INTERNAL_H
+
+#include "drawstuff/drawstuff.h"
+
+
+// supplied by platform specific code
+
+void dsPlatformSimLoop (int window_width, int window_height,
+			dsFunctions *fn, int initial_pause);
+
+
+// used by platform specific code
+
+void dsStartGraphics (int width, int height, dsFunctions *fn);
+void dsDrawFrame (int width, int height, dsFunctions *fn, int pause);
+void dsStopGraphics();
+void dsMotion (int mode, int deltax, int deltay);
+
+int dsGetShadows();
+void dsSetShadows (int a);
+
+int dsGetTextures();
+void dsSetTextures (int a);
+
+#endif
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();
+}
diff --git a/libs/ode-0.16.1/drawstuff/src/resource.h b/libs/ode-0.16.1/drawstuff/src/resource.h
new file mode 100644
index 0000000..15802b6
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/resource.h
@@ -0,0 +1,28 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Developer Studio generated include file.
+// Used by resources.rc
+//
+#define IDD_MSGDLG                      101
+#define IDR_MENU1                       102
+#define IDD_ABOUT                       103
+#define IDR_ACCELERATOR1                104
+#define IDC_LIST1                       1000
+#define IDM_EXIT                        40001
+#define IDM_ABOUT                       40002
+#define IDM_PAUSE                       40003
+#define IDM_PERF_MONITOR                40004
+#define IDM_SHADOWS                     40005
+#define IDM_TEXTURES                    40006
+#define IDM_SAVE_SETTINGS               40007
+#define IDM_SINGLE_STEP                 40008
+
+// Next default values for new objects
+// 
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+#define _APS_NEXT_RESOURCE_VALUE        108
+#define _APS_NEXT_COMMAND_VALUE         40009
+#define _APS_NEXT_CONTROL_VALUE         1001
+#define _APS_NEXT_SYMED_VALUE           101
+#endif
+#endif
diff --git a/libs/ode-0.16.1/drawstuff/src/resources.rc b/libs/ode-0.16.1/drawstuff/src/resources.rc
new file mode 100644
index 0000000..61611f7
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/resources.rc
@@ -0,0 +1,153 @@
+//Microsoft Developer Studio generated resource script.
+//
+#include "resource.h"
+
+#define APSTUDIO_READONLY_SYMBOLS
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 2 resource.
+//
+//#include "afxres.h"
+
+// added by RLS to make this work with windres
+#include "winresrc.h"
+#define IDC_STATIC (-1)
+
+/////////////////////////////////////////////////////////////////////////////
+#undef APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+// English (U.S.) resources
+
+#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
+#ifdef _WIN32
+LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
+#pragma code_page(1252)
+#endif //_WIN32
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Dialog
+//
+
+IDD_ABOUT DIALOG DISCARDABLE  0, 0, 257, 105
+STYLE DS_MODALFRAME | WS_POPUP | WS_VISIBLE | WS_CAPTION | WS_SYSMENU
+CAPTION "About"
+FONT 8, "MS Sans Serif"
+BEGIN
+    DEFPUSHBUTTON   "OK",IDOK,200,84,50,14
+    LTEXT           "Simulation test environment",IDC_STATIC,7,7,243,8
+    LTEXT           "Change the camera position by clicking + dragging in the main window.",
+                    IDC_STATIC,7,24,243,8
+    LTEXT           "Left button - pan and tilt.",IDC_STATIC,25,37,225,8
+    LTEXT           "Right button - forward and sideways.",IDC_STATIC,25,48,
+                    225,8
+    LTEXT           "Left + Right button (or middle button) - sideways and up.",
+                    IDC_STATIC,25,59,225,8
+END
+
+
+#ifdef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// TEXTINCLUDE
+//
+
+1 TEXTINCLUDE DISCARDABLE
+BEGIN
+    "resource.h\0"
+END
+
+2 TEXTINCLUDE DISCARDABLE
+BEGIN
+    //"#include ""afxres.h""\r\n"
+    "\0"
+END
+
+3 TEXTINCLUDE DISCARDABLE
+BEGIN
+    "\r\n"
+    "\0"
+END
+
+#endif    // APSTUDIO_INVOKED
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Menu
+//
+
+IDR_MENU1 MENU DISCARDABLE
+BEGIN
+    POPUP "&File"
+    BEGIN
+        MENUITEM "&Exit\tCtrl+X",               IDM_EXIT
+    END
+    POPUP "&Simulation"
+    BEGIN
+        MENUITEM "&Pause\tCtrl+P",              IDM_PAUSE
+        MENUITEM "Single Step\tCtrl+O",         IDM_SINGLE_STEP
+        MENUITEM "Performance &Monitor",        IDM_PERF_MONITOR, GRAYED
+        MENUITEM SEPARATOR
+        MENUITEM "&Shadows\tCtrl+S",            IDM_SHADOWS, CHECKED
+        MENUITEM "&Textures\tCtrl+T",           IDM_TEXTURES, CHECKED
+        MENUITEM SEPARATOR
+        MENUITEM "S&ave Settings",              IDM_SAVE_SETTINGS, GRAYED
+    END
+    POPUP "&Help"
+    BEGIN
+        MENUITEM "&About",                      IDM_ABOUT
+    END
+END
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// DESIGNINFO
+//
+
+#ifdef APSTUDIO_INVOKED
+GUIDELINES DESIGNINFO DISCARDABLE
+BEGIN
+    IDD_ABOUT, DIALOG
+    BEGIN
+        LEFTMARGIN, 7
+        RIGHTMARGIN, 250
+        VERTGUIDE, 25
+        TOPMARGIN, 7
+        BOTTOMMARGIN, 98
+    END
+END
+#endif    // APSTUDIO_INVOKED
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Accelerator
+//
+
+IDR_ACCELERATOR1 ACCELERATORS DISCARDABLE
+BEGIN
+    "O",            IDM_SINGLE_STEP,        VIRTKEY, CONTROL, NOINVERT
+    "P",            IDM_PAUSE,              VIRTKEY, CONTROL, NOINVERT
+    "S",            IDM_SHADOWS,            VIRTKEY, CONTROL, NOINVERT
+    "T",            IDM_TEXTURES,           VIRTKEY, CONTROL, NOINVERT
+    "X",            IDM_EXIT,               VIRTKEY, CONTROL, NOINVERT
+END
+
+#endif    // English (U.S.) resources
+/////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 3 resource.
+//
+
+
+/////////////////////////////////////////////////////////////////////////////
+#endif    // not APSTUDIO_INVOKED
+
diff --git a/libs/ode-0.16.1/drawstuff/src/windows.cpp b/libs/ode-0.16.1/drawstuff/src/windows.cpp
new file mode 100644
index 0000000..b136ddc
--- /dev/null
+++ b/libs/ode-0.16.1/drawstuff/src/windows.cpp
@@ -0,0 +1,536 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built
+#include <windows.h>
+#endif
+#include <process.h>
+#include <ode/odeconfig.h>
+#include <GL/gl.h>
+
+#include "config.h"
+#include "common.h"
+#include "resource.h"
+#include "internal.h"
+
+//***************************************************************************
+// application globals
+
+static HINSTANCE ghInstance = 0;
+static int gnCmdShow = 0;
+static HACCEL accelerators = 0;
+static HWND main_window = 0;
+
+//***************************************************************************
+// error and message handling
+
+static void errorBox (const char *title, const char *msg, va_list ap)
+{
+  char s[1000];
+  vsprintf (s,msg,ap);
+  MessageBox (0,s,title,MB_OK | MB_APPLMODAL | MB_ICONEXCLAMATION);
+}
+
+
+static void dsWarning (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("Warning",msg,ap);
+  va_end (ap);
+}
+
+
+extern "C" void dsError (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("Error",msg,ap);
+  va_end (ap);
+  exit (1);
+}
+
+
+extern "C" void dsDebug (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("INTERNAL ERROR",msg,ap);
+  va_end (ap);
+  // *((char *)0) = 0;	 ... commit SEGVicide ?
+  abort();
+  exit (1);	  // should never get here, but just in case...
+}
+
+
+extern "C" void dsPrint (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  vprintf (msg,ap);
+  va_end (ap);
+}
+
+//***************************************************************************
+// rendering thread
+
+// globals used to communicate with rendering thread
+
+static volatile int renderer_run = 1;
+static volatile int renderer_pause = 0;	  // 0=run, 1=pause
+static volatile int renderer_ss = 0;	  // single step command
+static volatile int renderer_width = 1;
+static volatile int renderer_height = 1;
+static dsFunctions *renderer_fn = 0;
+static volatile HDC renderer_dc = 0;
+static volatile int keybuffer[16];	  // fifo ring buffer for keypresses
+static volatile int keybuffer_head = 0;	  // index of next key to put in (modified by GUI)
+static volatile int keybuffer_tail = 0;	  // index of next key to take out (modified by renderer)
+
+
+static void setupRendererGlobals()
+{
+  renderer_run = 1;
+  renderer_pause = 0;
+  renderer_ss = 0;
+  renderer_width = 1;
+  renderer_height = 1;
+  renderer_fn = 0;
+  renderer_dc = 0;
+  keybuffer[16];
+  keybuffer_head = 0;
+  keybuffer_tail = 0;
+}
+
+
+static unsigned CALLBACK renderingThread (LPVOID lpParam)
+{
+  // create openGL context and make it current
+  HGLRC glc = wglCreateContext (renderer_dc);
+  if (glc==NULL) dsError ("could not create OpenGL context");
+  if (wglMakeCurrent (renderer_dc,glc) != TRUE)
+    dsError ("could not make OpenGL context current");
+
+  // test openGL capabilities
+  int maxtsize=0;
+  glGetIntegerv (GL_MAX_TEXTURE_SIZE,&maxtsize);
+  if (maxtsize < 128) dsWarning ("max texture size too small (%dx%d)",
+				 maxtsize,maxtsize);
+
+  dsStartGraphics (renderer_width,renderer_height,renderer_fn);
+  if (renderer_fn->start) renderer_fn->start();
+
+  while (renderer_run) {
+    // need to make local copy of renderer_ss to help prevent races
+    int ss = renderer_ss;
+    dsDrawFrame (renderer_width,renderer_height,renderer_fn,
+		 renderer_pause && !ss);
+    if (ss) renderer_ss = 0;
+
+    // read keys out of ring buffer and feed them to the command function
+    while (keybuffer_head != keybuffer_tail) {
+      if (renderer_fn->command) renderer_fn->command (keybuffer[keybuffer_tail]);
+      keybuffer_tail = (keybuffer_tail+1) & 15;
+    }
+
+    // swap buffers
+    SwapBuffers (renderer_dc);
+  }
+
+  if (renderer_fn->stop) renderer_fn->stop();
+  dsStopGraphics();
+
+  // delete openGL context
+  wglMakeCurrent (NULL,NULL);
+  wglDeleteContext (glc);
+
+  return 123;	    // magic value used to test for thread termination
+}
+
+//***************************************************************************
+// window handling
+
+// callback function for "about" dialog box
+
+static LRESULT CALLBACK AboutDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam,
+				      LPARAM lParam)
+{
+  switch (uMsg) {
+  case WM_INITDIALOG:
+    return TRUE;
+  case WM_COMMAND:
+    switch (wParam) {
+    case IDOK:
+      EndDialog (hDlg, TRUE);
+      return TRUE;
+    }
+    break;
+  }
+  return FALSE;
+}
+
+
+// callback function for the main window
+
+static LRESULT CALLBACK mainWndProc (HWND hWnd, UINT msg, WPARAM wParam,
+				     LPARAM lParam)
+{
+  static int button=0,lastx=0,lasty=0;
+  int ctrl = int(wParam & MK_CONTROL);
+
+  switch (msg) {
+  case WM_LBUTTONDOWN:
+  case WM_MBUTTONDOWN:
+  case WM_RBUTTONDOWN:
+    if (msg==WM_LBUTTONDOWN) button |= 1;
+    else if (msg==WM_MBUTTONDOWN) button |= 2;
+    else button |= 4;
+    lastx = SHORT(LOWORD(lParam));
+    lasty = SHORT(HIWORD(lParam));
+    SetCapture (hWnd);
+    break;
+
+  case WM_LBUTTONUP:
+  case WM_MBUTTONUP:
+  case WM_RBUTTONUP:
+    if (msg==WM_LBUTTONUP) button &= ~1;
+    else if (msg==WM_MBUTTONUP) button &= ~2;
+    else button &= ~4;
+    if (button==0) ReleaseCapture();
+    break;
+
+  case WM_MOUSEMOVE: {
+    int x = SHORT(LOWORD(lParam));
+    int y = SHORT(HIWORD(lParam));
+    if (button) dsMotion (button,x-lastx,y-lasty);
+    lastx = x;
+    lasty = y;
+    break;
+  }
+
+  case WM_CHAR: {
+    if (wParam >= ' ' && wParam <= 126) {
+      int nexth = (keybuffer_head+1) & 15;
+      if (nexth != keybuffer_tail) {
+	keybuffer[keybuffer_head] = int(wParam);
+	keybuffer_head = nexth;
+      }
+    }
+    break;
+  }
+
+  case WM_SIZE:
+    // lParam will contain the size of the *client* area!
+    renderer_width = LOWORD(lParam);
+    renderer_height = HIWORD(lParam);
+    break;
+
+  case WM_COMMAND:
+    switch (wParam & 0xffff) {
+    case IDM_ABOUT:
+      DialogBox (ghInstance,MAKEINTRESOURCE(IDD_ABOUT),hWnd,
+	(DLGPROC) AboutDlgProc);
+      break;
+    case IDM_PAUSE: {
+      renderer_pause ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_PAUSE,
+		     renderer_pause ? MF_CHECKED : MF_UNCHECKED);
+      if (renderer_pause) renderer_ss = 0;
+      break;
+    }
+    case IDM_SINGLE_STEP: {
+		if (renderer_pause)
+			renderer_ss = 1;
+		else
+			SendMessage( hWnd, WM_COMMAND, IDM_PAUSE, 0 );
+      break;
+    }
+    case IDM_PERF_MONITOR: {
+      dsWarning ("Performance monitor not yet implemented.");
+      break;
+    }
+    case IDM_TEXTURES: {
+      static int tex = 1;
+      tex ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_TEXTURES,
+		     tex ? MF_CHECKED : MF_UNCHECKED);
+      dsSetTextures (tex);
+      break;
+    }
+    case IDM_SHADOWS: {
+      static int shadows = 1;
+      shadows ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_SHADOWS,
+		     shadows ? MF_CHECKED : MF_UNCHECKED);
+      dsSetShadows (shadows);
+      break;
+    }
+    case IDM_SAVE_SETTINGS: {
+      dsWarning ("\"Save Settings\" not yet implemented.");
+      break;
+    }
+    case IDM_EXIT:
+      PostQuitMessage (0);
+      break;
+    }
+    break;
+
+  case WM_CLOSE:    
+    PostQuitMessage (0);
+    break;
+    
+  default:
+    return (DefWindowProc (hWnd, msg, wParam, lParam));
+  }
+
+  return 0;
+}
+
+
+// this comes from an MSDN example. believe it or not, this is the recommended
+// way to get the console window handle.
+
+static HWND GetConsoleHwnd()
+{
+  // the console window title to a "unique" value, then find the window
+  // that has this title.
+  char title[1024];
+  wsprintf (title,"DrawStuff:%d/%d",GetTickCount(),GetCurrentProcessId());
+  SetConsoleTitle (title);
+  Sleep(40);			// ensure window title has been updated
+  return FindWindow (NULL,title);
+}
+
+
+static void drawStuffStartup()
+{
+  static int startup_called = 0;
+  if (startup_called) return;
+  startup_called = 1;
+  if (!ghInstance)
+    ghInstance = GetModuleHandleA (NULL);
+  gnCmdShow = SW_SHOWNORMAL;		// @@@ fix this later
+
+  // redirect standard I/O to a new console (except on cygwin and mingw)
+#if !defined(__CYGWIN__) && !defined(__MINGW32__)
+  FreeConsole();
+  if (AllocConsole()==0) dsError ("AllocConsole() failed");
+  if (freopen ("CONIN$","rt",stdin)==0) dsError ("could not open stdin");
+  if (freopen ("CONOUT$","wt",stdout)==0) dsError ("could not open stdout");
+  if (freopen ("CONOUT$","wt",stderr)==0) dsError ("could not open stderr");
+  BringWindowToTop (GetConsoleHwnd());
+  SetConsoleTitle ("DrawStuff Messages");
+#endif
+
+  // register the window class
+  WNDCLASS wc;
+  wc.style = CS_OWNDC | CS_VREDRAW | CS_HREDRAW;
+  wc.lpfnWndProc = mainWndProc;
+  wc.cbClsExtra = 0;
+  wc.cbWndExtra = 0;
+  wc.hInstance = ghInstance;
+  wc.hIcon = LoadIcon (NULL,IDI_APPLICATION);
+  wc.hCursor = LoadCursor (NULL,IDC_ARROW);
+  wc.hbrBackground = (HBRUSH) (COLOR_WINDOW+1);
+  wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU1);
+  wc.lpszClassName = "SimAppClass";
+  if (RegisterClass (&wc)==0) dsError ("could not register window class");
+
+  // load accelerators
+  accelerators = LoadAccelerators (ghInstance,
+				   MAKEINTRESOURCE(IDR_ACCELERATOR1));
+  if (accelerators==NULL) dsError ("could not load accelerators");
+}
+
+
+void dsPlatformSimLoop (int window_width, int window_height,
+			dsFunctions *fn, int initial_pause)
+{
+  drawStuffStartup();
+  setupRendererGlobals();
+  renderer_pause = initial_pause;
+
+  // create window - but first get window size for desired size of client area.
+  // if this adjustment isn't made then the openGL area will be shifted into
+  // the nonclient area and determining the frame buffer coordinate from the
+  // client area coordinate will be hard.
+  RECT winrect;
+  winrect.left = 50;
+  winrect.top = 80;
+  winrect.right = winrect.left + window_width;
+  winrect.bottom = winrect.top + window_height;
+  DWORD style = WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS;
+  AdjustWindowRect (&winrect,style,1);
+  char title[100];
+  sprintf (title,"Simulation test environment v%d.%02d",
+	   DS_VERSION >> 8,DS_VERSION & 0xff);
+  main_window = CreateWindow ("SimAppClass",title,style,
+    winrect.left,winrect.top,winrect.right-winrect.left,winrect.bottom-winrect.top,
+    NULL,NULL,ghInstance,NULL);
+  if (main_window==NULL) dsError ("could not create main window");
+  ShowWindow (main_window, gnCmdShow);
+
+  HDC dc = GetDC (main_window);			// get DC for this window
+  if (dc==NULL) dsError ("could not get window DC");
+
+  // set pixel format for DC
+
+  PIXELFORMATDESCRIPTOR pfd = {
+    sizeof(PIXELFORMATDESCRIPTOR),   // size of this pfd
+    1,				     // version number
+    PFD_DRAW_TO_WINDOW |	     // support window
+    PFD_SUPPORT_OPENGL |	     // support OpenGL
+    PFD_DOUBLEBUFFER,		     // double buffered
+    PFD_TYPE_RGBA,		     // RGBA type
+    24, 			     // 24-bit color depth
+    0, 0, 0, 0, 0, 0,		     // color bits ignored
+    0,				     // no alpha buffer
+    0,				     // shift bit ignored
+    0,				     // no accumulation buffer
+    0, 0, 0, 0, 		     // accum bits ignored
+    32, 			     // 32-bit z-buffer
+    0,				     // no stencil buffer
+    0,				     // no auxiliary buffer
+    PFD_MAIN_PLANE,		     // main layer
+    0,				     // reserved
+    0, 0, 0			     // layer masks ignored
+  };
+  // get the best available match of pixel format for the device context
+  int iPixelFormat = ChoosePixelFormat (dc,&pfd);
+  if (iPixelFormat==0)
+    dsError ("could not find a good OpenGL pixel format");
+  // set the pixel format of the device context
+  if (SetPixelFormat (dc,iPixelFormat,&pfd)==FALSE)
+    dsError ("could not set DC pixel format for OpenGL");
+
+  // **********
+  // start the rendering thread
+
+  // set renderer globals
+  renderer_dc = dc;
+  renderer_width = window_width;
+  renderer_height = window_height;
+  renderer_fn = fn;
+
+  unsigned threadId;
+  HANDLE hThread;
+
+  hThread = (HANDLE)_beginthreadex(
+	NULL,			     // no security attributes
+	0,			     // use default stack size
+	&renderingThread,	     // thread function
+	NULL,		     // argument to thread function
+	0,			     // use default creation flags
+	&threadId);		     // returns the thread identifier
+
+  if (hThread==NULL) dsError ("Could not create rendering thread");
+
+  // **********
+  // start GUI message processing
+
+  MSG msg;
+  while (GetMessage (&msg,main_window,0,0)) {
+    if (!TranslateAccelerator (main_window,accelerators,&msg)) {
+      TranslateMessage (&msg);
+      DispatchMessage (&msg);
+    }
+  }
+
+  // terminate rendering thread
+  renderer_run = 0;
+  DWORD ret = WaitForSingleObject (hThread,2000);
+  if (ret==WAIT_TIMEOUT) dsWarning ("Could not kill rendering thread (1)");
+  DWORD exitcode=0;
+  if (!(GetExitCodeThread (hThread,&exitcode) && exitcode == 123))
+    dsWarning ("Could not kill rendering thread (2)");
+  CloseHandle (hThread);	     // dont need thread handle anymore
+
+  // destroy window
+  DestroyWindow (main_window);
+}
+
+
+extern "C" void dsStop()
+{
+  // just calling PostQuitMessage() here wont work, as this function is
+  // typically called from the rendering thread, not the GUI thread.
+  // instead we must post the message to the GUI window explicitly.
+
+  if (main_window) PostMessage (main_window,WM_QUIT,0,0);
+}
+
+
+extern "C" double dsElapsedTime()
+{
+  static double prev=0.0;
+  double curr = timeGetTime()/1000.0;
+  if (!prev)
+    prev=curr;
+  double retval = curr-prev;
+  prev=curr;
+  if (retval>1.0) retval=1.0;
+  if (retval<dEpsilon) retval=dEpsilon;
+  return retval;
+}
+
+
+// JPerkins: if running as a DLL, grab my module handle at load time so
+// I can find the accelerators table later
+
+BOOL WINAPI DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpReserved)
+{
+  switch (fdwReason)
+  {
+  case DLL_PROCESS_ATTACH:
+    ghInstance = hinstDLL;
+    break;
+  }
+  return TRUE;
+}
+
+
+// JPerkins: the new build system can set the entry point of the tests to
+// main(); this code is no longer necessary
+/*
+
+//***************************************************************************
+// windows entry point
+//
+// NOTE: WinMain is not guaranteed to be called with MinGW, because MinGW
+// always calls main if it is defined and most users of this library will
+// define their own main. So the startup functionality is kept in
+// zDriverStartup(), which is also called when dsSimulationLoop() is called.
+
+extern "C" int main (int argc, char **argv);
+
+
+int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
+		   LPSTR lpCmdLine, int nCmdShow)
+{
+  drawStuffStartup();
+  return main (0,0);	// @@@ should really pass cmd line arguments
+}
+
+*/
+
+
+
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
+}
+
+
+