summaryrefslogtreecommitdiff
path: root/libs/ode-0.16.1/libccd/src/testsuites
diff options
context:
space:
mode:
authorsanine <sanine.not@pm.me>2022-10-01 20:59:36 -0500
committersanine <sanine.not@pm.me>2022-10-01 20:59:36 -0500
commitc5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch)
tree277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/libccd/src/testsuites
parent1cf9cc3408af7008451f9133fb95af66a9697d15 (diff)
add ode
Diffstat (limited to 'libs/ode-0.16.1/libccd/src/testsuites')
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/Makefile.am28
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/Makefile.in753
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/bench.c257
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/bench2.c263
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/boxbox.c467
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/boxbox.h32
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c162
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h16
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/common.c174
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/common.h14
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING674
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER165
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am6
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in587
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/cu.c387
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h164
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c180
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h29
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/main.c32
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c500
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h26
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c165
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h16
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c179
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h23
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/polytope.c398
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/polytope.h24
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c99
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h24
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/support.c85
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/support.h102
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/vec3.c273
-rw-r--r--libs/ode-0.16.1/libccd/src/testsuites/vec3.h20
33 files changed, 6324 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am
new file mode 100644
index 0000000..733fed3
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.am
@@ -0,0 +1,28 @@
+SUBDIRS = cu
+
+AM_CPPFLAGS = -I $(srcdir)/.. -I $(builddir)/.. -I $(srcdir)/cu
+
+LDADD = $(builddir)/cu/libcu.la $(builddir)/../libccd.la
+
+
+check_PROGRAMS = test bench bench2
+
+test_SOURCES = main.c \
+ common.c common.h \
+ support.c support.h \
+ vec3.c vec3.h \
+ polytope.c polytope.h \
+ boxbox.c boxbox.h \
+ spheresphere.c spheresphere.h \
+ cylcyl.c cylcyl.h \
+ boxcyl.c boxcyl.h \
+ mpr_boxbox.c mpr_boxbox.h \
+ mpr_cylcyl.c mpr_cylcyl.h \
+ mpr_boxcyl.c mpr_boxcyl.h
+
+bench_SOURCES = bench.c \
+ support.c support.h
+
+bench2_SOURCES = bench2.c \
+ support.c support.h
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in
new file mode 100644
index 0000000..40ff0ea
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/Makefile.in
@@ -0,0 +1,753 @@
+# Makefile.in generated by automake 1.15 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2014 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+VPATH = @srcdir@
+am__is_gnu_make = { \
+ if test -z '$(MAKELEVEL)'; then \
+ false; \
+ elif test -n '$(MAKE_HOST)'; then \
+ true; \
+ elif test -n '$(MAKE_VERSION)' && test -n '$(CURDIR)'; then \
+ true; \
+ else \
+ false; \
+ fi; \
+}
+am__make_running_with_option = \
+ case $${target_option-} in \
+ ?) ;; \
+ *) echo "am__make_running_with_option: internal error: invalid" \
+ "target option '$${target_option-}' specified" >&2; \
+ exit 1;; \
+ esac; \
+ has_opt=no; \
+ sane_makeflags=$$MAKEFLAGS; \
+ if $(am__is_gnu_make); then \
+ sane_makeflags=$$MFLAGS; \
+ else \
+ case $$MAKEFLAGS in \
+ *\\[\ \ ]*) \
+ bs=\\; \
+ sane_makeflags=`printf '%s\n' "$$MAKEFLAGS" \
+ | sed "s/$$bs$$bs[$$bs $$bs ]*//g"`;; \
+ esac; \
+ fi; \
+ skip_next=no; \
+ strip_trailopt () \
+ { \
+ flg=`printf '%s\n' "$$flg" | sed "s/$$1.*$$//"`; \
+ }; \
+ for flg in $$sane_makeflags; do \
+ test $$skip_next = yes && { skip_next=no; continue; }; \
+ case $$flg in \
+ *=*|--*) continue;; \
+ -*I) strip_trailopt 'I'; skip_next=yes;; \
+ -*I?*) strip_trailopt 'I';; \
+ -*O) strip_trailopt 'O'; skip_next=yes;; \
+ -*O?*) strip_trailopt 'O';; \
+ -*l) strip_trailopt 'l'; skip_next=yes;; \
+ -*l?*) strip_trailopt 'l';; \
+ -[dEDm]) skip_next=yes;; \
+ -[JT]) skip_next=yes;; \
+ esac; \
+ case $$flg in \
+ *$$target_option*) has_opt=yes; break;; \
+ esac; \
+ done; \
+ test $$has_opt = yes
+am__make_dryrun = (target_option=n; $(am__make_running_with_option))
+am__make_keepgoing = (target_option=k; $(am__make_running_with_option))
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+check_PROGRAMS = test$(EXEEXT) bench$(EXEEXT) bench2$(EXEEXT)
+subdir = src/testsuites
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+ $(ACLOCAL_M4)
+DIST_COMMON = $(srcdir)/Makefile.am $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+am_bench_OBJECTS = bench.$(OBJEXT) support.$(OBJEXT)
+bench_OBJECTS = $(am_bench_OBJECTS)
+bench_LDADD = $(LDADD)
+bench_DEPENDENCIES = $(builddir)/cu/libcu.la $(builddir)/../libccd.la
+AM_V_lt = $(am__v_lt_@AM_V@)
+am__v_lt_ = $(am__v_lt_@AM_DEFAULT_V@)
+am__v_lt_0 = --silent
+am__v_lt_1 =
+am_bench2_OBJECTS = bench2.$(OBJEXT) support.$(OBJEXT)
+bench2_OBJECTS = $(am_bench2_OBJECTS)
+bench2_LDADD = $(LDADD)
+bench2_DEPENDENCIES = $(builddir)/cu/libcu.la $(builddir)/../libccd.la
+am_test_OBJECTS = main.$(OBJEXT) common.$(OBJEXT) support.$(OBJEXT) \
+ vec3.$(OBJEXT) polytope.$(OBJEXT) boxbox.$(OBJEXT) \
+ spheresphere.$(OBJEXT) cylcyl.$(OBJEXT) boxcyl.$(OBJEXT) \
+ mpr_boxbox.$(OBJEXT) mpr_cylcyl.$(OBJEXT) mpr_boxcyl.$(OBJEXT)
+test_OBJECTS = $(am_test_OBJECTS)
+test_LDADD = $(LDADD)
+test_DEPENDENCIES = $(builddir)/cu/libcu.la $(builddir)/../libccd.la
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo " GEN " $@;
+am__v_GEN_1 =
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 =
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)/src
+depcomp = $(SHELL) $(top_srcdir)/../depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+ $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+ $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) \
+ $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+ $(AM_CFLAGS) $(CFLAGS)
+AM_V_CC = $(am__v_CC_@AM_V@)
+am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
+am__v_CC_0 = @echo " CC " $@;
+am__v_CC_1 =
+CCLD = $(CC)
+LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+ $(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
+ $(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CCLD = $(am__v_CCLD_@AM_V@)
+am__v_CCLD_ = $(am__v_CCLD_@AM_DEFAULT_V@)
+am__v_CCLD_0 = @echo " CCLD " $@;
+am__v_CCLD_1 =
+SOURCES = $(bench_SOURCES) $(bench2_SOURCES) $(test_SOURCES)
+DIST_SOURCES = $(bench_SOURCES) $(bench2_SOURCES) $(test_SOURCES)
+RECURSIVE_TARGETS = all-recursive check-recursive cscopelist-recursive \
+ ctags-recursive dvi-recursive html-recursive info-recursive \
+ install-data-recursive install-dvi-recursive \
+ install-exec-recursive install-html-recursive \
+ install-info-recursive install-pdf-recursive \
+ install-ps-recursive install-recursive installcheck-recursive \
+ installdirs-recursive pdf-recursive ps-recursive \
+ tags-recursive uninstall-recursive
+am__can_run_installinfo = \
+ case $$AM_UPDATE_INFO_DIR in \
+ n|no|NO) false;; \
+ *) (install-info --version) >/dev/null 2>&1;; \
+ esac
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive \
+ distclean-recursive maintainer-clean-recursive
+am__recursive_targets = \
+ $(RECURSIVE_TARGETS) \
+ $(RECURSIVE_CLEAN_TARGETS) \
+ $(am__extra_recursive_targets)
+AM_RECURSIVE_TARGETS = $(am__recursive_targets:-recursive=) TAGS CTAGS \
+ distdir
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates. Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+ BEGIN { nonempty = 0; } \
+ { items[$$0] = 1; nonempty = 1; } \
+ END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique. This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+ list='$(am__tagged_files)'; \
+ unique=`for i in $$list; do \
+ if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+ done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+DIST_SUBDIRS = $(SUBDIRS)
+am__DIST_COMMON = $(srcdir)/Makefile.in $(top_srcdir)/../depcomp
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+am__relativize = \
+ dir0=`pwd`; \
+ sed_first='s,^\([^/]*\)/.*$$,\1,'; \
+ sed_rest='s,^[^/]*/*,,'; \
+ sed_last='s,^.*/\([^/]*\)$$,\1,'; \
+ sed_butlast='s,/*[^/]*$$,,'; \
+ while test -n "$$dir1"; do \
+ first=`echo "$$dir1" | sed -e "$$sed_first"`; \
+ if test "$$first" != "."; then \
+ if test "$$first" = ".."; then \
+ dir2=`echo "$$dir0" | sed -e "$$sed_last"`/"$$dir2"; \
+ dir0=`echo "$$dir0" | sed -e "$$sed_butlast"`; \
+ else \
+ first2=`echo "$$dir2" | sed -e "$$sed_first"`; \
+ if test "$$first2" = "$$first"; then \
+ dir2=`echo "$$dir2" | sed -e "$$sed_rest"`; \
+ else \
+ dir2="../$$dir2"; \
+ fi; \
+ dir0="$$dir0"/"$$first"; \
+ fi; \
+ fi; \
+ dir1=`echo "$$dir1" | sed -e "$$sed_rest"`; \
+ done; \
+ reldir="$$dir2"
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_PRECISION = @CCD_PRECISION@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+SUBDIRS = cu
+AM_CPPFLAGS = -I $(srcdir)/.. -I $(builddir)/.. -I $(srcdir)/cu
+LDADD = $(builddir)/cu/libcu.la $(builddir)/../libccd.la
+test_SOURCES = main.c \
+ common.c common.h \
+ support.c support.h \
+ vec3.c vec3.h \
+ polytope.c polytope.h \
+ boxbox.c boxbox.h \
+ spheresphere.c spheresphere.h \
+ cylcyl.c cylcyl.h \
+ boxcyl.c boxcyl.h \
+ mpr_boxbox.c mpr_boxbox.h \
+ mpr_cylcyl.c mpr_cylcyl.h \
+ mpr_boxcyl.c mpr_boxcyl.h
+
+bench_SOURCES = bench.c \
+ support.c support.h
+
+bench2_SOURCES = bench2.c \
+ support.c support.h
+
+all: all-recursive
+
+.SUFFIXES:
+.SUFFIXES: .c .lo .o .obj
+$(srcdir)/Makefile.in: $(srcdir)/Makefile.am $(am__configure_deps)
+ @for dep in $?; do \
+ case '$(am__configure_deps)' in \
+ *$$dep*) \
+ ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+ && { if test -f $@; then exit 0; else break; fi; }; \
+ exit 1;; \
+ esac; \
+ done; \
+ echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign src/testsuites/Makefile'; \
+ $(am__cd) $(top_srcdir) && \
+ $(AUTOMAKE) --foreign src/testsuites/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+ @case '$?' in \
+ *config.status*) \
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+ *) \
+ echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+ cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+ esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: $(am__configure_deps)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): $(am__aclocal_m4_deps)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkPROGRAMS:
+ @list='$(check_PROGRAMS)'; test -n "$$list" || exit 0; \
+ echo " rm -f" $$list; \
+ rm -f $$list || exit $$?; \
+ test -n "$(EXEEXT)" || exit 0; \
+ list=`for p in $$list; do echo "$$p"; done | sed 's/$(EXEEXT)$$//'`; \
+ echo " rm -f" $$list; \
+ rm -f $$list
+
+bench$(EXEEXT): $(bench_OBJECTS) $(bench_DEPENDENCIES) $(EXTRA_bench_DEPENDENCIES)
+ @rm -f bench$(EXEEXT)
+ $(AM_V_CCLD)$(LINK) $(bench_OBJECTS) $(bench_LDADD) $(LIBS)
+
+bench2$(EXEEXT): $(bench2_OBJECTS) $(bench2_DEPENDENCIES) $(EXTRA_bench2_DEPENDENCIES)
+ @rm -f bench2$(EXEEXT)
+ $(AM_V_CCLD)$(LINK) $(bench2_OBJECTS) $(bench2_LDADD) $(LIBS)
+
+test$(EXEEXT): $(test_OBJECTS) $(test_DEPENDENCIES) $(EXTRA_test_DEPENDENCIES)
+ @rm -f test$(EXEEXT)
+ $(AM_V_CCLD)$(LINK) $(test_OBJECTS) $(test_LDADD) $(LIBS)
+
+mostlyclean-compile:
+ -rm -f *.$(OBJEXT)
+
+distclean-compile:
+ -rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/bench.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/bench2.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/boxbox.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/boxcyl.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/common.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cylcyl.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/main.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/mpr_boxbox.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/mpr_boxcyl.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/mpr_cylcyl.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/polytope.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/spheresphere.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/support.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/vec3.Po@am__quote@
+
+.c.o:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(COMPILE) -c -o $@ $<
+
+.c.obj:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(COMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.c.lo:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(LTCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(LTCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+ -rm -f *.lo
+
+clean-libtool:
+ -rm -rf .libs _libs
+
+# This directory's subdirectories are mostly independent; you can cd
+# into them and run 'make' without going through this Makefile.
+# To change the values of 'make' variables: instead of editing Makefiles,
+# (1) if the variable is set in 'config.status', edit 'config.status'
+# (which will cause the Makefiles to be regenerated when you run 'make');
+# (2) otherwise, pass the desired values on the 'make' command line.
+$(am__recursive_targets):
+ @fail=; \
+ if $(am__make_keepgoing); then \
+ failcom='fail=yes'; \
+ else \
+ failcom='exit 1'; \
+ fi; \
+ dot_seen=no; \
+ target=`echo $@ | sed s/-recursive//`; \
+ case "$@" in \
+ distclean-* | maintainer-clean-*) list='$(DIST_SUBDIRS)' ;; \
+ *) list='$(SUBDIRS)' ;; \
+ esac; \
+ for subdir in $$list; do \
+ echo "Making $$target in $$subdir"; \
+ if test "$$subdir" = "."; then \
+ dot_seen=yes; \
+ local_target="$$target-am"; \
+ else \
+ local_target="$$target"; \
+ fi; \
+ ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) $$local_target) \
+ || eval $$failcom; \
+ done; \
+ if test "$$dot_seen" = "no"; then \
+ $(MAKE) $(AM_MAKEFLAGS) "$$target-am" || exit 1; \
+ fi; test -z "$$fail"
+
+ID: $(am__tagged_files)
+ $(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-recursive
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+ set x; \
+ here=`pwd`; \
+ if ($(ETAGS) --etags-include --version) >/dev/null 2>&1; then \
+ include_option=--etags-include; \
+ empty_fix=.; \
+ else \
+ include_option=--include; \
+ empty_fix=; \
+ fi; \
+ list='$(SUBDIRS)'; for subdir in $$list; do \
+ if test "$$subdir" = .; then :; else \
+ test ! -f $$subdir/TAGS || \
+ set "$$@" "$$include_option=$$here/$$subdir/TAGS"; \
+ fi; \
+ done; \
+ $(am__define_uniq_tagged_files); \
+ shift; \
+ if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+ test -n "$$unique" || unique=$$empty_fix; \
+ if test $$# -gt 0; then \
+ $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+ "$$@" $$unique; \
+ else \
+ $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+ $$unique; \
+ fi; \
+ fi
+ctags: ctags-recursive
+
+CTAGS: ctags
+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) "$$here"
+cscopelist: cscopelist-recursive
+
+cscopelist-am: $(am__tagged_files)
+ list='$(am__tagged_files)'; \
+ case "$(srcdir)" in \
+ [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+ *) sdir=$(subdir)/$(srcdir) ;; \
+ esac; \
+ for i in $$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 {} \;; \
+ fi; \
+ 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
+ @list='$(DIST_SUBDIRS)'; for subdir in $$list; do \
+ if test "$$subdir" = .; then :; else \
+ $(am__make_dryrun) \
+ || test -d "$(distdir)/$$subdir" \
+ || $(MKDIR_P) "$(distdir)/$$subdir" \
+ || exit 1; \
+ dir1=$$subdir; dir2="$(distdir)/$$subdir"; \
+ $(am__relativize); \
+ new_distdir=$$reldir; \
+ dir1=$$subdir; dir2="$(top_distdir)"; \
+ $(am__relativize); \
+ new_top_distdir=$$reldir; \
+ echo " (cd $$subdir && $(MAKE) $(AM_MAKEFLAGS) top_distdir="$$new_top_distdir" distdir="$$new_distdir" \\"; \
+ echo " am__remove_distdir=: am__skip_length_check=: am__skip_mode_fix=: distdir)"; \
+ ($(am__cd) $$subdir && \
+ $(MAKE) $(AM_MAKEFLAGS) \
+ top_distdir="$$new_top_distdir" \
+ distdir="$$new_distdir" \
+ am__remove_distdir=: \
+ am__skip_length_check=: \
+ am__skip_mode_fix=: \
+ distdir) \
+ || exit 1; \
+ fi; \
+ done
+check-am: all-am
+ $(MAKE) $(AM_MAKEFLAGS) $(check_PROGRAMS)
+check: check-recursive
+all-am: Makefile
+installdirs: installdirs-recursive
+installdirs-am:
+install: install-recursive
+install-exec: install-exec-recursive
+install-data: install-data-recursive
+uninstall: uninstall-recursive
+
+install-am: all-am
+ @$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-recursive
+install-strip:
+ if test -z '$(STRIP)'; then \
+ $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+ install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+ install; \
+ else \
+ $(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)
+
+maintainer-clean-generic:
+ @echo "This command is intended for maintainers to use"
+ @echo "it deletes files that may require special tools to rebuild."
+clean: clean-recursive
+
+clean-am: clean-checkPROGRAMS clean-generic clean-libtool \
+ mostlyclean-am
+
+distclean: distclean-recursive
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+ distclean-tags
+
+dvi: dvi-recursive
+
+dvi-am:
+
+html: html-recursive
+
+html-am:
+
+info: info-recursive
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-recursive
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-recursive
+
+install-html-am:
+
+install-info: install-info-recursive
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-recursive
+
+install-pdf-am:
+
+install-ps: install-ps-recursive
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-recursive
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-recursive
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+ mostlyclean-libtool
+
+pdf: pdf-recursive
+
+pdf-am:
+
+ps: ps-recursive
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: $(am__recursive_targets) check-am install-am install-strip
+
+.PHONY: $(am__recursive_targets) CTAGS GTAGS TAGS all all-am check \
+ check-am clean clean-checkPROGRAMS clean-generic clean-libtool \
+ cscopelist-am ctags ctags-am distclean distclean-compile \
+ distclean-generic distclean-libtool distclean-tags distdir dvi \
+ dvi-am html html-am info info-am install install-am \
+ install-data install-data-am install-dvi install-dvi-am \
+ install-exec install-exec-am install-html install-html-am \
+ install-info install-info-am install-man install-pdf \
+ install-pdf-am install-ps install-ps-am install-strip \
+ installcheck installcheck-am installdirs installdirs-am \
+ maintainer-clean maintainer-clean-generic mostlyclean \
+ mostlyclean-compile mostlyclean-generic mostlyclean-libtool \
+ pdf pdf-am ps ps-am tags tags-am uninstall uninstall-am
+
+.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/libccd/src/testsuites/bench.c b/libs/ode-0.16.1/libccd/src/testsuites/bench.c
new file mode 100644
index 0000000..779a8ac
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/bench.c
@@ -0,0 +1,257 @@
+#define CU_ENABLE_TIMER
+#include <cu/cu.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <ccd/ccd.h>
+#include "support.h"
+
+TEST_SUITES {
+ TEST_SUITES_CLOSURE
+};
+
+static int bench_num = 1;
+static size_t cycles = 10000;
+
+static void runBench(const void *o1, const void *o2, const ccd_t *ccd)
+{
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+ int res;
+ size_t i;
+ const struct timespec *timer;
+
+ cuTimerStart();
+ for (i = 0; i < cycles; i++){
+ res = ccdGJKPenetration(o1, o2, ccd, &depth, &dir, &pos);
+ }
+ timer = cuTimerStop();
+ fprintf(stdout, "%02d: %ld %ld\n", bench_num,
+ (long)timer->tv_sec, (long)timer->tv_nsec);
+ fflush(stdout);
+
+ bench_num++;
+}
+
+static void boxbox(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ ccd_vec3_t axis;
+ ccd_quat_t rot;
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+ bench_num = 1;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 1., 1.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 0., 0.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -1.3, 0., 0.);
+
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+void cylcyl(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_CYL(cyl1);
+ CCD_CYL(cyl2);
+ ccd_vec3_t axis;
+
+ cyl1.radius = 0.35;
+ cyl1.height = 0.5;
+ cyl2.radius = 0.5;
+ cyl2.height = 1.;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0.567, 1.2, 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, -4.567, 1.2, 0.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+void boxcyl(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ ccd_vec3_t axis;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+int main(int argc, char *argv[])
+{
+ if (argc > 1){
+ cycles = atol(argv[1]);
+ }
+
+ fprintf(stdout, "Cycles: %zu\n", cycles);
+ fprintf(stdout, "\n");
+
+ boxbox();
+ cylcyl();
+ boxcyl();
+
+ return 0;
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/bench2.c b/libs/ode-0.16.1/libccd/src/testsuites/bench2.c
new file mode 100644
index 0000000..8fb29df
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/bench2.c
@@ -0,0 +1,263 @@
+#define CU_ENABLE_TIMER
+#include <cu/cu.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <ccd/ccd.h>
+#include "support.h"
+
+TEST_SUITES {
+ TEST_SUITES_CLOSURE
+};
+
+static int bench_num = 1;
+static size_t cycles = 10000;
+
+static void runBench(const void *o1, const void *o2, const ccd_t *ccd)
+{
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+ int res;
+ size_t i;
+ const struct timespec *timer;
+
+ cuTimerStart();
+ for (i = 0; i < cycles; i++){
+ res = ccdMPRPenetration(o1, o2, ccd, &depth, &dir, &pos);
+ }
+ timer = cuTimerStop();
+ fprintf(stdout, "%02d: %ld %ld\n", bench_num,
+ (long)timer->tv_sec, (long)timer->tv_nsec);
+ fflush(stdout);
+
+ bench_num++;
+}
+
+static void boxbox(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ ccd_vec3_t axis;
+ ccd_quat_t rot;
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+ bench_num = 1;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 1., 1.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 0., 0.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -1.3, 0., 0.);
+
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ runBench(&box1, &box2, &ccd);
+ runBench(&box2, &box1, &ccd);
+
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+void cylcyl(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_CYL(cyl1);
+ CCD_CYL(cyl2);
+ ccd_vec3_t axis;
+
+ cyl1.radius = 0.35;
+ cyl1.height = 0.5;
+ cyl2.radius = 0.5;
+ cyl2.height = 1.;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, 0.567, 1.2, 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ ccdVec3Set(&axis, -4.567, 1.2, 0.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ runBench(&cyl1, &cyl2, &ccd);
+ runBench(&cyl2, &cyl1, &ccd);
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+void boxcyl(void)
+{
+ fprintf(stdout, "%s:\n", __func__);
+
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ ccd_vec3_t axis;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ runBench(&box, &cyl, &ccd);
+ runBench(&cyl, &box, &ccd);
+
+ fprintf(stdout, "\n----\n\n");
+}
+
+int main(int argc, char *argv[])
+{
+ if (argc > 1){
+ cycles = atol(argv[1]);
+ }
+
+ fprintf(stdout, "Cycles: %zu\n", cycles);
+ fprintf(stdout, "\n");
+
+ boxbox();
+ cylcyl();
+ boxcyl();
+
+ return 0;
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c
new file mode 100644
index 0000000..3dfc965
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.c
@@ -0,0 +1,467 @@
+#include <stdio.h>
+#include <cu/cu.h>
+
+#include <ccd/ccd.h>
+#include "support.h"
+#include <ccd/vec3.h>
+#include <ccd/dbg.h>
+#include "common.h"
+
+
+TEST(boxboxSetUp)
+{
+}
+
+TEST(boxboxTearDown)
+{
+}
+
+TEST(boxboxAlignedX)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ //ccd.max_iterations = 20;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+
+
+ box1.x = 0.1;
+ box1.y = 0.2;
+ box1.z = 0.1;
+ box2.x = 0.2;
+ box2.y = 0.1;
+ box2.z = 0.2;
+
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.01;
+ }
+
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., -0.1, 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+}
+
+TEST(boxboxAlignedY)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, 0., -5., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[1] += 0.1;
+ }
+}
+
+TEST(boxboxAlignedZ)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, 0., 0., -5.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[2] += 0.1;
+ }
+}
+
+
+TEST(boxboxRot)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t angle;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., 0.5, 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i < 33 || i > 67){
+ assertFalse(res);
+ }else if (i != 33 && i != 67){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+
+ box1.x = 1;
+ box1.y = 1;
+ box1.z = 1;
+ box2.x = 1;
+ box2.y = 1;
+ box2.z = 1;
+
+ ccdVec3Set(&box1.pos, -1.01, 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ angle = 0.;
+ for (i = 0; i < 30; i++){
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+
+ if (i != 0 && i != 10 && i != 20){
+ assertTrue(res);
+ }else{
+ assertFalse(res);
+ }
+
+ angle += M_PI / 20.;
+ ccdQuatSetAngleAxis(&box1.quat, angle, &axis);
+ }
+
+}
+
+
+
+static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v)
+{
+ fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n",
+ ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos));
+ fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n",
+ box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]);
+ fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n",
+ ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos));
+ fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n",
+ box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]);
+ fprintf(stdout, "# sep: [%lf %lf %lf]\n",
+ ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v));
+ fprintf(stdout, "#\n");
+}
+
+TEST(boxboxSeparate)
+{
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t sep, expsep, expsep2, axis;
+
+ fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2);
+ res = ccdGJKIntersect(&box1, &box2, &ccd);
+ assertTrue(res);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0.25, 0., 0.);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+ ccdVec3Scale(&sep, -1.);
+ ccdVec3Add(&box1.pos, &sep);
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., 0.);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., -0.25);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., 1.);
+ ccdVec3Set(&expsep2, 0., 0., -1.);
+ assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2));
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ pConf(&box1, &box2, &sep);
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ pConf(&box1, &box2, &sep);
+}
+
+
+#define TOSVT() \
+ svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&box2.pos, &dir); \
+ svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos)
+
+TEST(boxboxPenetration)
+{
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_quat_t rot;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&box2.pos, 0.1, 0., 0.);
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT(); <<<
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0.1, 0., 0.1);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&box2.pos, 0.1, 0., 0.);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 1., 1.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 7");
+ //TOSVT(); <<<
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 0., 0.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -1.3, 0., 0.);
+
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+
+ res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 8");
+ //TOSVT();
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h
new file mode 100644
index 0000000..8127c7c
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/boxbox.h
@@ -0,0 +1,32 @@
+#ifndef BOX_BOX
+#define BOX_BOX
+
+#include <cu/cu.h>
+
+TEST(boxboxSetUp);
+TEST(boxboxTearDown);
+
+TEST(boxboxAlignedX);
+TEST(boxboxAlignedY);
+TEST(boxboxAlignedZ);
+
+TEST(boxboxRot);
+
+TEST(boxboxSeparate);
+TEST(boxboxPenetration);
+
+TEST_SUITE(TSBoxBox) {
+ TEST_ADD(boxboxSetUp),
+
+ TEST_ADD(boxboxAlignedX),
+ TEST_ADD(boxboxAlignedY),
+ TEST_ADD(boxboxAlignedZ),
+ TEST_ADD(boxboxRot),
+ TEST_ADD(boxboxSeparate),
+ TEST_ADD(boxboxPenetration),
+
+ TEST_ADD(boxboxTearDown),
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c
new file mode 100644
index 0000000..4a556cb
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.c
@@ -0,0 +1,162 @@
+#include <cu/cu.h>
+#include "common.h"
+#include <ccd/ccd.h>
+#include "support.h"
+
+
+#define TOSVT() \
+ svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&cyl.pos, &dir); \
+ svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos)
+
+
+TEST(boxcylIntersect)
+{
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ int res;
+ ccd_vec3_t axis;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ res = ccdGJKIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+}
+
+
+TEST(boxcylPenEPA)
+{
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT(); <<<
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 7");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 8");
+ //TOSVT();
+}
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h
new file mode 100644
index 0000000..3d348d9
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/boxcyl.h
@@ -0,0 +1,16 @@
+#ifndef TEST_BOXCYL_H
+#define TEST_BOXCYL_H
+
+#include <cu/cu.h>
+
+TEST(boxcylIntersect);
+TEST(boxcylPenEPA);
+
+TEST_SUITE(TSBoxCyl){
+ TEST_ADD(boxcylIntersect),
+ TEST_ADD(boxcylPenEPA),
+
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/common.c b/libs/ode-0.16.1/libccd/src/testsuites/common.c
new file mode 100644
index 0000000..eca7776
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/common.c
@@ -0,0 +1,174 @@
+#include "common.h"
+#include <ccd/vec3.h>
+#include <ccd/quat.h>
+#include "support.h"
+
+static void svtCyl(ccd_cyl_t *c, FILE *out, const char *color, const char *name)
+{
+ ccd_vec3_t v[32];
+ ccd_quat_t rot;
+ ccd_vec3_t axis, vpos, vpos2;
+ ccd_real_t angle, x, y;
+ unsigned int i;
+
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdVec3Set(&vpos, 0., c->radius, 0.);
+ angle = 0.;
+ for (i = 0; i < 16; i++){
+ angle = (ccd_real_t)i * (2. * M_PI / 16.);
+
+ ccdQuatSetAngleAxis(&rot, angle, &axis);
+ ccdVec3Copy(&vpos2, &vpos);
+ ccdQuatRotVec(&vpos2, &rot);
+ x = ccdVec3X(&vpos2);
+ y = ccdVec3Y(&vpos2);
+
+ ccdVec3Set(&v[i], x, y, c->height / 2.);
+ ccdVec3Set(&v[i + 16], x, y, -c->height / 2.);
+ }
+
+ for (i = 0; i < 32; i++){
+ ccdQuatRotVec(&v[i], &c->quat);
+ ccdVec3Add(&v[i], &c->pos);
+ }
+
+ fprintf(out, "-----\n");
+ if (name)
+ fprintf(out, "Name: %s\n", name);
+
+ fprintf(out, "Face color: %s\n", color);
+ fprintf(out, "Edge color: %s\n", color);
+ fprintf(out, "Point color: %s\n", color);
+ fprintf(out, "Points:\n");
+ for (i = 0; i < 32; i++){
+ fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i]));
+ }
+
+ fprintf(out, "Edges:\n");
+ fprintf(out, "0 16\n");
+ fprintf(out, "0 31\n");
+ for (i = 1; i < 16; i++){
+ fprintf(out, "0 %d\n", i);
+ fprintf(out, "16 %d\n", i + 16);
+ if (i != 0){
+ fprintf(out, "%d %d\n", i - 1, i);
+ fprintf(out, "%d %d\n", i + 16 - 1, i + 16);
+ }
+
+ fprintf(out, "%d %d\n", i, i + 16);
+ fprintf(out, "%d %d\n", i, i + 16 - 1);
+ }
+
+ fprintf(out, "Faces:\n");
+ for (i = 2; i < 16; i++){
+ fprintf(out, "0 %d %d\n", i, i -1);
+ fprintf(out, "16 %d %d\n", i + 16, i + 16 -1);
+
+ }
+ fprintf(out, "0 16 31\n");
+ fprintf(out, "0 31 15\n");
+ for (i = 1; i < 16; i++){
+ fprintf(out, "%d %d %d\n", i, i + 16, i + 16 - 1);
+ fprintf(out, "%d %d %d\n", i, i + 16 - 1, i - 1);
+ }
+ fprintf(out, "-----\n");
+}
+
+static void svtBox(ccd_box_t *b, FILE *out, const char *color, const char *name)
+{
+ ccd_vec3_t v[8];
+ size_t i;
+
+ ccdVec3Set(&v[0], b->x * 0.5, b->y * 0.5, b->z * 0.5);
+ ccdVec3Set(&v[1], b->x * 0.5, b->y * -0.5, b->z * 0.5);
+ ccdVec3Set(&v[2], b->x * 0.5, b->y * 0.5, b->z * -0.5);
+ ccdVec3Set(&v[3], b->x * 0.5, b->y * -0.5, b->z * -0.5);
+ ccdVec3Set(&v[4], b->x * -0.5, b->y * 0.5, b->z * 0.5);
+ ccdVec3Set(&v[5], b->x * -0.5, b->y * -0.5, b->z * 0.5);
+ ccdVec3Set(&v[6], b->x * -0.5, b->y * 0.5, b->z * -0.5);
+ ccdVec3Set(&v[7], b->x * -0.5, b->y * -0.5, b->z * -0.5);
+
+ for (i = 0; i < 8; i++){
+ ccdQuatRotVec(&v[i], &b->quat);
+ ccdVec3Add(&v[i], &b->pos);
+ }
+
+ fprintf(out, "-----\n");
+ if (name)
+ fprintf(out, "Name: %s\n", name);
+ fprintf(out, "Face color: %s\n", color);
+ fprintf(out, "Edge color: %s\n", color);
+ fprintf(out, "Point color: %s\n", color);
+ fprintf(out, "Points:\n");
+ for (i = 0; i < 8; i++){
+ fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i]));
+ }
+
+ fprintf(out, "Edges:\n");
+ fprintf(out, "0 1\n 0 2\n2 3\n3 1\n1 2\n6 2\n1 7\n1 5\n");
+ fprintf(out, "5 0\n0 4\n4 2\n6 4\n6 5\n5 7\n6 7\n7 2\n7 3\n4 5\n");
+
+ fprintf(out, "Faces:\n");
+ fprintf(out, "0 2 1\n1 2 3\n6 2 4\n4 2 0\n4 0 5\n5 0 1\n");
+ fprintf(out, "5 1 7\n7 1 3\n6 4 5\n6 5 7\n2 6 7\n2 7 3\n");
+ fprintf(out, "-----\n");
+}
+
+
+void svtObj(void *_o, FILE *out, const char *color, const char *name)
+{
+ ccd_obj_t *o = (ccd_obj_t *)_o;
+
+ if (o->type == CCD_OBJ_CYL){
+ svtCyl((ccd_cyl_t *)o, out, color, name);
+ }else if (o->type == CCD_OBJ_BOX){
+ svtBox((ccd_box_t *)o, out, color, name);
+ }
+}
+
+void svtObjPen(void *o1, void *o2,
+ FILE *out, const char *name,
+ ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos)
+{
+ ccd_vec3_t sep;
+ char oname[500];
+
+ ccdVec3Copy(&sep, dir);
+ ccdVec3Scale(&sep, depth);
+ ccdVec3Add(&sep, pos);
+
+ fprintf(out, "------\n");
+ if (name)
+ fprintf(out, "Name: %s\n", name);
+ fprintf(out, "Point color: 0.1 0.1 0.9\n");
+ fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
+ fprintf(out, "------\n");
+ fprintf(out, "Point color: 0.1 0.9 0.9\n");
+ fprintf(out, "Edge color: 0.1 0.9 0.9\n");
+ fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
+ fprintf(out, "%lf %lf %lf\n", ccdVec3X(&sep), ccdVec3Y(&sep), ccdVec3Z(&sep));
+ fprintf(out, "Edges: 0 1\n");
+
+ oname[0] = 0x0;
+ if (name)
+ sprintf(oname, "%s o1", name);
+ svtObj(o1, out, "0.9 0.1 0.1", oname);
+
+ oname[0] = 0x0;
+ if (name)
+ sprintf(oname, "%s o1", name);
+ svtObj(o2, out, "0.1 0.9 0.1", oname);
+}
+
+
+void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos,
+ FILE *out, const char *note)
+{
+ if (!note)
+ note = "";
+
+ fprintf(out, "# %s: depth: %lf\n", note, depth);
+ fprintf(out, "# %s: dir: [%lf %lf %lf]\n", note, ccdVec3X(dir), ccdVec3Y(dir), ccdVec3Z(dir));
+ fprintf(out, "# %s: pos: [%lf %lf %lf]\n", note, ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos));
+ fprintf(out, "#\n");
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/common.h b/libs/ode-0.16.1/libccd/src/testsuites/common.h
new file mode 100644
index 0000000..a4de4c2
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/common.h
@@ -0,0 +1,14 @@
+#ifndef TEST_COMMON
+#define TEST_COMMON
+
+#include <stdio.h>
+#include <ccd/vec3.h>
+
+void svtObj(void *o, FILE *out, const char *color, const char *name);
+void svtObjPen(void *o1, void *o2,
+ FILE *out, const char *name,
+ ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos);
+void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos,
+ FILE *out, const char *note);
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so. This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software. The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable. Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products. If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary. To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
+ "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+ "The Program" refers to any copyrightable work licensed under this
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+ To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy. The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+ A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+ To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy. Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+ To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies. Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+ An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License. If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+ 1. Source Code.
+
+ The "source code" for a work means the preferred form of the work
+for making modifications to it. "Object code" means any non-source
+form of a work.
+
+ A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+ The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
+implementation is available to the public in source code form. A
+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+ The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities. However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work. For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+ The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+ The Corresponding Source for a work in source code form is that
+same work.
+
+ 2. Basic Permissions.
+
+ All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met. This License explicitly affirms your unlimited
+permission to run the unmodified Program. The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work. This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+ You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force. You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright. Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+ Conveying under any other circumstances is permitted solely under
+the conditions stated below. Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+ 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+ No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+ When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+ 4. Conveying Verbatim Copies.
+
+ You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+ You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+ 5. Conveying Modified Source Versions.
+
+ You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+ a) The work must carry prominent notices stating that you modified
+ it, and giving a relevant date.
+
+ b) The work must carry prominent notices stating that it is
+ released under this License and any conditions added under section
+ 7. This requirement modifies the requirement in section 4 to
+ "keep intact all notices".
+
+ c) You must license the entire work, as a whole, under this
+ License to anyone who comes into possession of a copy. This
+ License will therefore apply, along with any applicable section 7
+ additional terms, to the whole of the work, and all its parts,
+ regardless of how they are packaged. This License gives no
+ permission to license the work in any other way, but it does not
+ invalidate such permission if you have separately received it.
+
+ d) If the work has interactive user interfaces, each must display
+ Appropriate Legal Notices; however, if the Program has interactive
+ interfaces that do not display Appropriate Legal Notices, your
+ work need not make them do so.
+
+ A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit. Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+ 6. Conveying Non-Source Forms.
+
+ You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+ a) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by the
+ Corresponding Source fixed on a durable physical medium
+ customarily used for software interchange.
+
+ b) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by a
+ written offer, valid for at least three years and valid for as
+ long as you offer spare parts or customer support for that product
+ model, to give anyone who possesses the object code either (1) a
+ copy of the Corresponding Source for all the software in the
+ product that is covered by this License, on a durable physical
+ medium customarily used for software interchange, for a price no
+ more than your reasonable cost of physically performing this
+ conveying of source, or (2) access to copy the
+ Corresponding Source from a network server at no charge.
+
+ c) Convey individual copies of the object code with a copy of the
+ written offer to provide the Corresponding Source. This
+ alternative is allowed only occasionally and noncommercially, and
+ only if you received the object code with such an offer, in accord
+ with subsection 6b.
+
+ d) Convey the object code by offering access from a designated
+ place (gratis or for a charge), and offer equivalent access to the
+ Corresponding Source in the same way through the same place at no
+ further charge. You need not require recipients to copy the
+ Corresponding Source along with the object code. If the place to
+ copy the object code is a network server, the Corresponding Source
+ may be on a different server (operated by you or a third party)
+ that supports equivalent copying facilities, provided you maintain
+ clear directions next to the object code saying where to find the
+ Corresponding Source. Regardless of what server hosts the
+ Corresponding Source, you remain obligated to ensure that it is
+ available for as long as needed to satisfy these requirements.
+
+ e) Convey the object code using peer-to-peer transmission, provided
+ you inform other peers where the object code and Corresponding
+ Source of the work are being offered to the general public at no
+ charge under subsection 6d.
+
+ A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+ A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling. In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage. For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product. A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+ "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source. The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+ If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information. But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+ The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed. Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+ Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+ 7. Additional Terms.
+
+ "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law. If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+ When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it. (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.) You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+ Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+ a) Disclaiming warranty or limiting liability differently from the
+ terms of sections 15 and 16 of this License; or
+
+ b) Requiring preservation of specified reasonable legal notices or
+ author attributions in that material or in the Appropriate Legal
+ Notices displayed by works containing it; or
+
+ c) Prohibiting misrepresentation of the origin of that material, or
+ requiring that modified versions of such material be marked in
+ reasonable ways as different from the original version; or
+
+ d) Limiting the use for publicity purposes of names of licensors or
+ authors of the material; or
+
+ e) Declining to grant rights under trademark law for use of some
+ trade names, trademarks, or service marks; or
+
+ f) Requiring indemnification of licensors and authors of that
+ material by anyone who conveys the material (or modified versions of
+ it) with contractual assumptions of liability to the recipient, for
+ any liability that these contractual assumptions directly impose on
+ those licensors and authors.
+
+ All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+ If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+ Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+ However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+ Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+ Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License. If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
+not accept this License. Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+ 10. Automatic Licensing of Downstream Recipients.
+
+ Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
+for enforcing compliance by third parties with this License.
+
+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program 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
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER
new file mode 100644
index 0000000..fc8a5de
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER
@@ -0,0 +1,165 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+ This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+ 0. Additional Definitions.
+
+ As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+ "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+ An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+ A "Combined Work" is a work produced by combining or linking an
+Application with the Library. The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+ The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+ The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+ 1. Exception to Section 3 of the GNU GPL.
+
+ You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+ 2. Conveying Modified Versions.
+
+ If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+ a) under this License, provided that you make a good faith effort to
+ ensure that, in the event an Application does not supply the
+ function or data, the facility still operates, and performs
+ whatever part of its purpose remains meaningful, or
+
+ b) under the GNU GPL, with none of the additional permissions of
+ this License applicable to that copy.
+
+ 3. Object Code Incorporating Material from Library Header Files.
+
+ The object code form of an Application may incorporate material from
+a header file that is part of the Library. You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+ a) Give prominent notice with each copy of the object code that the
+ Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the object code with a copy of the GNU GPL and this license
+ document.
+
+ 4. Combined Works.
+
+ You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+ a) Give prominent notice with each copy of the Combined Work that
+ the Library is used in it and that the Library and its use are
+ covered by this License.
+
+ b) Accompany the Combined Work with a copy of the GNU GPL and this license
+ document.
+
+ c) For a Combined Work that displays copyright notices during
+ execution, include the copyright notice for the Library among
+ these notices, as well as a reference directing the user to the
+ copies of the GNU GPL and this license document.
+
+ d) Do one of the following:
+
+ 0) Convey the Minimal Corresponding Source under the terms of this
+ License, and the Corresponding Application Code in a form
+ suitable for, and under terms that permit, the user to
+ recombine or relink the Application with a modified version of
+ the Linked Version to produce a modified Combined Work, in the
+ manner specified by section 6 of the GNU GPL for conveying
+ Corresponding Source.
+
+ 1) Use a suitable shared library mechanism for linking with the
+ Library. A suitable mechanism is one that (a) uses at run time
+ a copy of the Library already present on the user's computer
+ system, and (b) will operate properly with a modified version
+ of the Library that is interface-compatible with the Linked
+ Version.
+
+ e) Provide Installation Information, but only if you would otherwise
+ be required to provide such information under section 6 of the
+ GNU GPL, and only to the extent that such information is
+ necessary to install and execute a modified version of the
+ Combined Work produced by recombining or relinking the
+ Application with a modified version of the Linked Version. (If
+ you use option 4d0, the Installation Information must accompany
+ the Minimal Corresponding Source and Corresponding Application
+ Code. If you use option 4d1, you must provide the Installation
+ Information in the manner specified by section 6 of the GNU GPL
+ for conveying Corresponding Source.)
+
+ 5. Combined Libraries.
+
+ You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+ a) Accompany the combined library with a copy of the same work based
+ on the Library, uncombined with any other library facilities,
+ conveyed under the terms of this License.
+
+ b) Give prominent notice with the combined library that part of it
+ is a work based on the Library, and explaining where to find the
+ accompanying uncombined form of the same work.
+
+ 6. Revised Versions of the GNU Lesser General Public License.
+
+ The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+ If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am
new file mode 100644
index 0000000..66d6daf
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am
@@ -0,0 +1,6 @@
+AM_CPPFLAGS = -DCU_ENABLE_TIMER
+
+check_LTLIBRARIES = libcu.la
+
+libcu_la_SOURCES = cu.c cu.h
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in
new file mode 100644
index 0000000..6c6a3a0
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in
@@ -0,0 +1,587 @@
+# Makefile.in generated by automake 1.15 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2014 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+VPATH = @srcdir@
+am__is_gnu_make = { \
+ if test -z '$(MAKELEVEL)'; then \
+ false; \
+ elif test -n '$(MAKE_HOST)'; then \
+ true; \
+ elif test -n '$(MAKE_VERSION)' && test -n '$(CURDIR)'; then \
+ true; \
+ else \
+ false; \
+ fi; \
+}
+am__make_running_with_option = \
+ case $${target_option-} in \
+ ?) ;; \
+ *) echo "am__make_running_with_option: internal error: invalid" \
+ "target option '$${target_option-}' specified" >&2; \
+ exit 1;; \
+ esac; \
+ has_opt=no; \
+ sane_makeflags=$$MAKEFLAGS; \
+ if $(am__is_gnu_make); then \
+ sane_makeflags=$$MFLAGS; \
+ else \
+ case $$MAKEFLAGS in \
+ *\\[\ \ ]*) \
+ bs=\\; \
+ sane_makeflags=`printf '%s\n' "$$MAKEFLAGS" \
+ | sed "s/$$bs$$bs[$$bs $$bs ]*//g"`;; \
+ esac; \
+ fi; \
+ skip_next=no; \
+ strip_trailopt () \
+ { \
+ flg=`printf '%s\n' "$$flg" | sed "s/$$1.*$$//"`; \
+ }; \
+ for flg in $$sane_makeflags; do \
+ test $$skip_next = yes && { skip_next=no; continue; }; \
+ case $$flg in \
+ *=*|--*) continue;; \
+ -*I) strip_trailopt 'I'; skip_next=yes;; \
+ -*I?*) strip_trailopt 'I';; \
+ -*O) strip_trailopt 'O'; skip_next=yes;; \
+ -*O?*) strip_trailopt 'O';; \
+ -*l) strip_trailopt 'l'; skip_next=yes;; \
+ -*l?*) strip_trailopt 'l';; \
+ -[dEDm]) skip_next=yes;; \
+ -[JT]) skip_next=yes;; \
+ esac; \
+ case $$flg in \
+ *$$target_option*) has_opt=yes; break;; \
+ esac; \
+ done; \
+ test $$has_opt = yes
+am__make_dryrun = (target_option=n; $(am__make_running_with_option))
+am__make_keepgoing = (target_option=k; $(am__make_running_with_option))
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+subdir = src/testsuites/cu
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+ $(ACLOCAL_M4)
+DIST_COMMON = $(srcdir)/Makefile.am $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+libcu_la_LIBADD =
+am_libcu_la_OBJECTS = cu.lo
+libcu_la_OBJECTS = $(am_libcu_la_OBJECTS)
+AM_V_lt = $(am__v_lt_@AM_V@)
+am__v_lt_ = $(am__v_lt_@AM_DEFAULT_V@)
+am__v_lt_0 = --silent
+am__v_lt_1 =
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo " GEN " $@;
+am__v_GEN_1 =
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 =
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)/src
+depcomp = $(SHELL) $(top_srcdir)/../depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+ $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+ $(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) \
+ $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+ $(AM_CFLAGS) $(CFLAGS)
+AM_V_CC = $(am__v_CC_@AM_V@)
+am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
+am__v_CC_0 = @echo " CC " $@;
+am__v_CC_1 =
+CCLD = $(CC)
+LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+ $(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
+ $(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CCLD = $(am__v_CCLD_@AM_V@)
+am__v_CCLD_ = $(am__v_CCLD_@AM_DEFAULT_V@)
+am__v_CCLD_0 = @echo " CCLD " $@;
+am__v_CCLD_1 =
+SOURCES = $(libcu_la_SOURCES)
+DIST_SOURCES = $(libcu_la_SOURCES)
+am__can_run_installinfo = \
+ case $$AM_UPDATE_INFO_DIR in \
+ n|no|NO) false;; \
+ *) (install-info --version) >/dev/null 2>&1;; \
+ esac
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates. Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+ BEGIN { nonempty = 0; } \
+ { items[$$0] = 1; nonempty = 1; } \
+ END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique. This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+ list='$(am__tagged_files)'; \
+ unique=`for i in $$list; do \
+ if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+ done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+am__DIST_COMMON = $(srcdir)/Makefile.in $(top_srcdir)/../depcomp \
+ COPYING COPYING.LESSER
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_PRECISION = @CCD_PRECISION@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+AM_CPPFLAGS = -DCU_ENABLE_TIMER
+check_LTLIBRARIES = libcu.la
+libcu_la_SOURCES = cu.c cu.h
+all: all-am
+
+.SUFFIXES:
+.SUFFIXES: .c .lo .o .obj
+$(srcdir)/Makefile.in: $(srcdir)/Makefile.am $(am__configure_deps)
+ @for dep in $?; do \
+ case '$(am__configure_deps)' in \
+ *$$dep*) \
+ ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+ && { if test -f $@; then exit 0; else break; fi; }; \
+ exit 1;; \
+ esac; \
+ done; \
+ echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign src/testsuites/cu/Makefile'; \
+ $(am__cd) $(top_srcdir) && \
+ $(AUTOMAKE) --foreign src/testsuites/cu/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+ @case '$?' in \
+ *config.status*) \
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+ *) \
+ echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+ cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+ esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: $(am__configure_deps)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): $(am__aclocal_m4_deps)
+ cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkLTLIBRARIES:
+ -test -z "$(check_LTLIBRARIES)" || rm -f $(check_LTLIBRARIES)
+ @list='$(check_LTLIBRARIES)'; \
+ locs=`for p in $$list; do echo $$p; done | \
+ sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
+ sort -u`; \
+ test -z "$$locs" || { \
+ echo rm -f $${locs}; \
+ rm -f $${locs}; \
+ }
+
+libcu.la: $(libcu_la_OBJECTS) $(libcu_la_DEPENDENCIES) $(EXTRA_libcu_la_DEPENDENCIES)
+ $(AM_V_CCLD)$(LINK) $(libcu_la_OBJECTS) $(libcu_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
+ -rm -f *.$(OBJEXT)
+
+distclean-compile:
+ -rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cu.Plo@am__quote@
+
+.c.o:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(COMPILE) -c -o $@ $<
+
+.c.obj:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(COMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.c.lo:
+@am__fastdepCC_TRUE@ $(AM_V_CC)$(LTCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@ $(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ $(AM_V_CC)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(AM_V_CC@am__nodep@)$(LTCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+ -rm -f *.lo
+
+clean-libtool:
+ -rm -rf .libs _libs
+
+ID: $(am__tagged_files)
+ $(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-am
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+ set x; \
+ here=`pwd`; \
+ $(am__define_uniq_tagged_files); \
+ shift; \
+ if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+ test -n "$$unique" || unique=$$empty_fix; \
+ if test $$# -gt 0; then \
+ $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+ "$$@" $$unique; \
+ else \
+ $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+ $$unique; \
+ fi; \
+ fi
+ctags: ctags-am
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+ $(am__define_uniq_tagged_files); \
+ test -z "$(CTAGS_ARGS)$$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)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+ fi; \
+ if test -d $(srcdir)/$$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
+ $(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+ @$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+ if test -z '$(STRIP)'; then \
+ $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+ install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+ install; \
+ else \
+ $(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 $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+ @echo "This command is intended for maintainers to use"
+ @echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+ mostlyclean-am
+
+distclean: distclean-am
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+ distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+ -rm -rf ./$(DEPDIR)
+ -rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+ mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: check-am install-am install-strip
+
+.PHONY: CTAGS GTAGS TAGS all all-am check check-am clean \
+ clean-checkLTLIBRARIES clean-generic clean-libtool \
+ cscopelist-am ctags ctags-am distclean distclean-compile \
+ distclean-generic distclean-libtool distclean-tags distdir dvi \
+ dvi-am html html-am info info-am install install-am \
+ install-data install-data-am install-dvi install-dvi-am \
+ install-exec install-exec-am install-html install-html-am \
+ install-info install-info-am install-man install-pdf \
+ install-pdf-am install-ps install-ps-am install-strip \
+ installcheck installcheck-am installdirs maintainer-clean \
+ maintainer-clean-generic mostlyclean mostlyclean-compile \
+ mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+ tags tags-am uninstall uninstall-am
+
+.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/libccd/src/testsuites/cu/cu.c b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.c
new file mode 100644
index 0000000..7449b4b
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.c
@@ -0,0 +1,387 @@
+/***
+ * CU - C unit testing framework
+ * ---------------------------------
+ * Copyright (c)2007,2008,2009 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of CU.
+ *
+ * CU is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 3 of
+ * the License, or (at your option) any later version.
+ *
+ * CU 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
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/wait.h>
+
+#include "cu.h"
+
+/** Declared here, because I didn't find header file where it is declared */
+char *strsignal(int sig);
+
+const char *cu_current_test;
+const char *cu_current_test_suite;
+int cu_success_test_suites = 0;
+int cu_fail_test_suites = 0;
+int cu_success_tests = 0;
+int cu_fail_tests = 0;
+int cu_success_checks = 0;
+int cu_fail_checks = 0;
+
+char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1] = "";
+
+
+/* globally used file descriptor for reading/writing messages */
+int fd;
+
+/* indicate if test was failed */
+int test_failed;
+
+/* codes of messages */
+#define CHECK_FAILED '0'
+#define CHECK_SUCCEED '1'
+#define TEST_FAILED '2'
+#define TEST_SUCCEED '3'
+#define TEST_SUITE_FAILED '4'
+#define TEST_SUITE_SUCCEED '5'
+#define END '6'
+#define TEST_NAME '7'
+
+/* predefined messages */
+#define MSG_CHECK_SUCCEED write(fd, "1\n", 2)
+#define MSG_TEST_FAILED write(fd, "2\n", 2)
+#define MSG_TEST_SUCCEED write(fd, "3\n", 2)
+#define MSG_TEST_SUITE_FAILED write(fd, "4\n", 2)
+#define MSG_TEST_SUITE_SUCCEED write(fd, "5\n", 2)
+#define MSG_END write(fd, "6\n", 2)
+
+/* length of buffers */
+#define BUF_LEN 1000
+#define MSGBUF_LEN 300
+
+
+static void redirect_out_err(const char *testName);
+static void close_out_err(void);
+static void run_test_suite(const char *ts_name, cu_test_suite_t *ts);
+static void receive_messages(void);
+
+static void cu_run_fork(const char *ts_name, cu_test_suite_t *test_suite);
+static void cu_print_results(void);
+
+void cu_run(int argc, char *argv[])
+{
+ cu_test_suites_t *tss;
+ int i;
+ char found = 0;
+
+ if (argc > 1){
+ for (i=1; i < argc; i++){
+ tss = cu_test_suites;
+ while (tss->name != NULL && tss->test_suite != NULL){
+ if (strcmp(argv[i], tss->name) == 0){
+ found = 1;
+ cu_run_fork(tss->name, tss->test_suite);
+ break;
+ }
+ tss++;
+ }
+
+ if (tss->name == NULL || tss->test_suite == NULL){
+ fprintf(stderr, "ERROR: Could not find test suite '%s'\n", argv[i]);
+ }
+ }
+
+ if (found == 1)
+ cu_print_results();
+
+ }else{
+ tss = cu_test_suites;
+ while (tss->name != NULL && tss->test_suite != NULL){
+ cu_run_fork(tss->name, tss->test_suite);
+ tss++;
+ }
+ cu_print_results();
+ }
+
+
+}
+
+static void cu_run_fork(const char *ts_name, cu_test_suite_t *ts)
+{
+ int pipefd[2];
+ int pid;
+ int status;
+
+ if (pipe(pipefd) == -1){
+ perror("Pipe error");
+ exit(-1);
+ }
+
+ fprintf(stdout, " -> %s [IN PROGESS]\n", ts_name);
+ fflush(stdout);
+
+ pid = fork();
+ if (pid < 0){
+ perror("Fork error");
+ exit(-1);
+ }
+
+ if (pid == 0){
+ /* close read end of pipe */
+ close(pipefd[0]);
+
+ fd = pipefd[1];
+
+ /* run testsuite, messages go to fd */
+ run_test_suite(ts_name, ts);
+
+ MSG_END;
+ close(fd);
+
+ /* stop process where running testsuite */
+ exit(0);
+ }else{
+ /* close write end of pipe */
+ close(pipefd[1]);
+
+ fd = pipefd[0];
+
+ /* receive and interpret all messages */
+ receive_messages();
+
+ /* wait for children */
+ wait(&status);
+ if (!WIFEXITED(status)){ /* if child process ends up abnormaly */
+ if (WIFSIGNALED(status)){
+ fprintf(stdout, "Test suite was terminated by signal %d (%s).\n",
+ WTERMSIG(status), strsignal(WTERMSIG(status)));
+ }else{
+ fprintf(stdout, "Test suite terminated abnormaly!\n");
+ }
+
+ /* mark this test suite as failed, because was terminated
+ * prematurely */
+ cu_fail_test_suites++;
+ }
+
+ close(fd);
+
+ fprintf(stdout, " -> %s [DONE]\n\n", ts_name);
+ fflush(stdout);
+ }
+
+}
+
+static void run_test_suite(const char *ts_name, cu_test_suite_t *ts)
+{
+ int test_suite_failed = 0;
+ char buffer[MSGBUF_LEN];
+ int len;
+
+ /* set up current test suite name for later messaging... */
+ cu_current_test_suite = ts_name;
+
+ /* redirect stdout and stderr */
+ redirect_out_err(cu_current_test_suite);
+
+ while (ts->name != NULL && ts->func != NULL){
+ test_failed = 0;
+
+ /* set up name of test for later messaging */
+ cu_current_test = ts->name;
+
+ /* send message what test is currently running */
+ len = snprintf(buffer, MSGBUF_LEN, "%c --> Running %s...\n",
+ TEST_NAME, cu_current_test);
+ write(fd, buffer, len);
+
+ /* run test */
+ (*(ts->func))();
+
+ if (test_failed){
+ MSG_TEST_FAILED;
+ test_suite_failed = 1;
+ }else{
+ MSG_TEST_SUCCEED;
+ }
+
+ ts++; /* next test in test suite */
+ }
+
+ if (test_suite_failed){
+ MSG_TEST_SUITE_FAILED;
+ }else{
+ MSG_TEST_SUITE_SUCCEED;
+ }
+
+ /* close redirected stdout and stderr */
+ close_out_err();
+}
+
+
+static void receive_messages(void)
+{
+ char buf[BUF_LEN]; /* buffer */
+ int buf_len; /* how many chars stored in buf */
+ char bufout[MSGBUF_LEN]; /* buffer which can be printed out */
+ int bufout_len;
+ int state = 0; /* 0 - waiting for code, 1 - copy msg to stdout */
+ int i;
+ int end = 0; /* end of messages? */
+
+ bufout_len = 0;
+ while((buf_len = read(fd, buf, BUF_LEN)) > 0 && !end){
+ for (i=0; i < buf_len; i++){
+
+ /* Prepare message for printing out */
+ if (state == 1 || state == 2){
+ if (bufout_len < MSGBUF_LEN)
+ bufout[bufout_len++] = buf[i];
+ }
+
+ /* reset state on '\n' in msg */
+ if (buf[i] == '\n'){
+ /* copy messages out */
+ if (state == 1)
+ write(1, bufout, bufout_len);
+ if (state == 2)
+ write(2, bufout, bufout_len);
+
+ state = 0;
+ bufout_len = 0;
+ continue;
+ }
+
+ if (state == 0){
+ if (buf[i] == CHECK_FAILED){
+ cu_fail_checks++;
+ state = 2;
+ }else if (buf[i] == TEST_NAME){
+ state = 1;
+ }else if (buf[i] == CHECK_SUCCEED){
+ cu_success_checks++;
+ }else if (buf[i] == TEST_FAILED){
+ cu_fail_tests++;
+ }else if (buf[i] == TEST_SUCCEED){
+ cu_success_tests++;
+ }else if (buf[i] == TEST_SUITE_FAILED){
+ cu_fail_test_suites++;
+ }else if (buf[i] == TEST_SUITE_SUCCEED){
+ cu_success_test_suites++;
+ }else if (buf[i] == END){
+ end = 1;
+ break;
+ }
+ }
+ }
+ }
+}
+
+void cu_success_assertation(void)
+{
+ MSG_CHECK_SUCCEED;
+}
+
+void cu_fail_assertation(const char *file, int line, const char *msg)
+{
+ char buf[MSGBUF_LEN];
+ int len;
+
+ len = snprintf(buf, MSGBUF_LEN, "%c%s:%d (%s::%s) :: %s\n",
+ CHECK_FAILED,
+ file, line, cu_current_test_suite, cu_current_test, msg);
+ write(fd, buf, len);
+
+ /* enable test_failed flag */
+ test_failed = 1;
+}
+
+static void cu_print_results(void)
+{
+ fprintf(stdout, "\n");
+ fprintf(stdout, "==================================================\n");
+ fprintf(stdout, "| | failed | succeed | total |\n");
+ fprintf(stdout, "|------------------------------------------------|\n");
+ fprintf(stdout, "| assertations: | %6d | %7d | %5d |\n",
+ cu_fail_checks, cu_success_checks,
+ cu_success_checks+cu_fail_checks);
+ fprintf(stdout, "| tests: | %6d | %7d | %5d |\n",
+ cu_fail_tests, cu_success_tests,
+ cu_success_tests+cu_fail_tests);
+ fprintf(stdout, "| tests suites: | %6d | %7d | %5d |\n",
+ cu_fail_test_suites, cu_success_test_suites,
+ cu_success_test_suites+cu_fail_test_suites);
+ fprintf(stdout, "==================================================\n");
+}
+
+void cu_set_out_prefix(const char *str)
+{
+ strncpy(cu_out_prefix, str, CU_OUT_PREFIX_LENGTH);
+}
+
+static void redirect_out_err(const char *test_name)
+{
+ char buf[100];
+
+ snprintf(buf, 99, "%stmp.%s.out", cu_out_prefix, test_name);
+ if (freopen(buf, "w", stdout) == NULL){
+ perror("Redirecting of stdout failed");
+ exit(-1);
+ }
+
+ snprintf(buf, 99, "%stmp.%s.err", cu_out_prefix, test_name);
+ if (freopen(buf, "w", stderr) == NULL){
+ perror("Redirecting of stderr failed");
+ exit(-1);
+ }
+}
+
+static void close_out_err(void)
+{
+ fclose(stdout);
+ fclose(stderr);
+}
+
+
+#ifdef CU_ENABLE_TIMER
+/* global variables for timer functions */
+struct timespec __cu_timer;
+static struct timespec __cu_timer_start, __cu_timer_stop;
+
+const struct timespec *cuTimer(void)
+{
+ return &__cu_timer;
+}
+
+void cuTimerStart(void)
+{
+ clock_gettime(CLOCK_MONOTONIC, &__cu_timer_start);
+}
+
+const struct timespec *cuTimerStop(void)
+{
+ clock_gettime(CLOCK_MONOTONIC, &__cu_timer_stop);
+
+ /* store into t difference between time_start and time_end */
+ if (__cu_timer_stop.tv_nsec > __cu_timer_start.tv_nsec){
+ __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec - __cu_timer_start.tv_nsec;
+ __cu_timer.tv_sec = __cu_timer_stop.tv_sec - __cu_timer_start.tv_sec;
+ }else{
+ __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec + 1000000000L - __cu_timer_start.tv_nsec;
+ __cu_timer.tv_sec = __cu_timer_stop.tv_sec - 1 - __cu_timer_start.tv_sec;
+ }
+
+ return &__cu_timer;
+}
+#endif /* CU_ENABLE_TIMER */
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h
new file mode 100644
index 0000000..06574cf
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h
@@ -0,0 +1,164 @@
+/***
+ * CU - C unit testing framework
+ * ---------------------------------
+ * Copyright (c)2007,2008,2009 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of CU.
+ *
+ * CU is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 3 of
+ * the License, or (at your option) any later version.
+ *
+ * CU 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
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef _CU_H_
+#define _CU_H_
+
+#ifdef CU_ENABLE_TIMER
+# include <time.h>
+#endif /* CU_ENABLE_TIMER */
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/***** PUBLIC API *****/
+/**
+ * Define test
+ */
+#define TEST(name) \
+ void name(void)
+
+/**
+ * Define testsuite
+ */
+#define TEST_SUITE(name) \
+ cu_test_suite_t test_suite_##name[] =
+/**
+ * Must be on the end of list of tests.
+ */
+#define TEST_SUITE_CLOSURE \
+ { NULL, NULL }
+
+#define TEST_SUITES \
+ cu_test_suites_t cu_test_suites[] =
+#define TEST_SUITES_CLOSURE \
+ { NULL, NULL }
+#define TEST_SUITE_ADD(name) \
+ { #name, test_suite_##name }
+
+/**
+ * Add test to testsuite
+ */
+#define TEST_ADD(name) \
+ { #name, name }
+
+#define CU_RUN(argc, argv) \
+ cu_run(argc, argv)
+
+/**
+ * Set prefix for files printed out. Must contain trailing /.
+ */
+#define CU_SET_OUT_PREFIX(str) \
+ cu_set_out_prefix(str)
+
+/**
+ * Assertations
+ * Assertations with suffix 'M' (e.g. assertTrueM) is variation of macro
+ * where is possible to specify error message.
+ */
+#define assertTrueM(a, message) \
+ if (a){ \
+ cu_success_assertation(); \
+ }else{ \
+ cu_fail_assertation(__FILE__, __LINE__, message); \
+ }
+#define assertTrue(a) \
+ assertTrueM((a), #a " is not true")
+
+#define assertFalseM(a, message) \
+ assertTrueM(!(a), message)
+#define assertFalse(a) \
+ assertFalseM((a), #a " is not false")
+
+#define assertEqualsM(a,b,message) \
+ assertTrueM((a) == (b), message)
+#define assertEquals(a,b) \
+ assertEqualsM((a), (b), #a " not equals " #b)
+
+#define assertNotEqualsM(a,b,message) \
+ assertTrueM((a) != (b), message)
+#define assertNotEquals(a,b) \
+ assertNotEqualsM((a), (b), #a " equals " #b)
+/***** PUBLIC API END *****/
+
+
+#include <unistd.h>
+
+#define CU_MAX_NAME_LENGTH 30
+
+typedef void (*cu_test_func_t)(void);
+typedef struct _cu_test_suite_t {
+ const char *name;
+ cu_test_func_t func;
+} cu_test_suite_t;
+typedef struct _cu_test_suites_t {
+ const char *name;
+ cu_test_suite_t *test_suite;
+} cu_test_suites_t;
+
+extern cu_test_suites_t cu_test_suites[];
+
+extern const char *cu_current_test;
+extern const char *cu_current_test_suite;
+
+extern int cu_success_test_suites;
+extern int cu_fail_test_suites;
+extern int cu_success_tests;
+extern int cu_fail_tests;
+extern int cu_success_checks;
+extern int cu_fail_checks;
+
+#define CU_OUT_PREFIX_LENGTH 30
+extern char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1];
+
+void cu_run(int argc, char *argv[]);
+void cu_success_assertation(void);
+void cu_fail_assertation(const char *file, int line, const char *msg);
+void cu_set_out_prefix(const char *str);
+
+/** Timer **/
+#ifdef CU_ENABLE_TIMER
+extern struct timespec __cu_timer;
+
+/**
+ * Returns value of timer. (as timespec struct)
+ */
+const struct timespec *cuTimer(void);
+
+/**
+ * Starts timer.
+ */
+void cuTimerStart(void);
+
+/**
+ * Stops timer and record elapsed time from last call of cuTimerStart().
+ * Returns current value of timer.
+ */
+const struct timespec *cuTimerStop(void);
+#endif /* CU_ENABLE_TIMER */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c
new file mode 100644
index 0000000..6cd2124
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.c
@@ -0,0 +1,180 @@
+#include <stdio.h>
+#include <cu/cu.h>
+#include <ccd/ccd.h>
+#include "support.h"
+#include "common.h"
+
+
+TEST(cylcylSetUp)
+{
+}
+
+TEST(cylcylTearDown)
+{
+}
+
+
+TEST(cylcylAlignedX)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, -5., 0., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&c1, &c2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[0] += 0.1;
+ }
+}
+
+TEST(cylcylAlignedY)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, 0., -5., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&c1, &c2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[1] += 0.1;
+ }
+}
+
+TEST(cylcylAlignedZ)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, 0., 0., -5.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&c1, &c2, &ccd);
+
+ if (i < 43 || i > 57){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[2] += 0.1;
+ }
+}
+
+#define TOSVT() \
+ svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&cyl2.pos, &dir); \
+ svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos)
+
+TEST(cylcylPenetrationEPA)
+{
+ ccd_t ccd;
+ CCD_CYL(cyl1);
+ CCD_CYL(cyl2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ fprintf(stderr, "\n\n\n---- cylcylPenetration ----\n\n\n");
+
+ cyl1.radius = 0.35;
+ cyl1.height = 0.5;
+ cyl2.radius = 0.5;
+ cyl2.height = 1.;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.3);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+ ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT(); <<<
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0.567, 1.2, 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -4.567, 1.2, 0.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h
new file mode 100644
index 0000000..8cbbe07
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cylcyl.h
@@ -0,0 +1,29 @@
+#ifndef CYL_CYL
+#define CYL_CYL
+
+#include <cu/cu.h>
+
+TEST(cylcylSetUp);
+TEST(cylcylTearDown);
+
+TEST(cylcylAlignedX);
+TEST(cylcylAlignedY);
+TEST(cylcylAlignedZ);
+
+TEST(cylcylPenetrationEPA);
+
+TEST_SUITE(TSCylCyl) {
+ TEST_ADD(cylcylSetUp),
+
+ TEST_ADD(cylcylAlignedX),
+ TEST_ADD(cylcylAlignedY),
+ TEST_ADD(cylcylAlignedZ),
+
+ TEST_ADD(cylcylPenetrationEPA),
+
+ TEST_ADD(cylcylTearDown),
+ TEST_SUITE_CLOSURE
+};
+
+#endif
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/main.c b/libs/ode-0.16.1/libccd/src/testsuites/main.c
new file mode 100644
index 0000000..a4585b0
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/main.c
@@ -0,0 +1,32 @@
+#include "vec3.h"
+#include "polytope.h"
+#include "boxbox.h"
+#include "spheresphere.h"
+#include "cylcyl.h"
+#include "boxcyl.h"
+
+#include "mpr_boxbox.h"
+#include "mpr_cylcyl.h"
+#include "mpr_boxcyl.h"
+
+TEST_SUITES {
+ TEST_SUITE_ADD(TSVec3),
+ TEST_SUITE_ADD(TSPt),
+ TEST_SUITE_ADD(TSBoxBox),
+ TEST_SUITE_ADD(TSSphereSphere),
+ TEST_SUITE_ADD(TSCylCyl),
+ TEST_SUITE_ADD(TSBoxCyl),
+
+ TEST_SUITE_ADD(TSMPRBoxBox),
+ TEST_SUITE_ADD(TSMPRCylCyl),
+ TEST_SUITE_ADD(TSMPRBoxCyl),
+
+ TEST_SUITES_CLOSURE
+};
+int main(int argc, char *argv[])
+{
+ CU_SET_OUT_PREFIX("regressions/");
+ CU_RUN(argc, argv);
+
+ return 0;
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c
new file mode 100644
index 0000000..2342850
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.c
@@ -0,0 +1,500 @@
+#include <stdio.h>
+#include <cu/cu.h>
+
+#include <ccd/ccd.h>
+#include "support.h"
+#include <ccd/vec3.h>
+#include <ccd/dbg.h>
+#include "common.h"
+
+
+TEST(mprBoxboxAlignedX)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+
+ box1.x = 0.1;
+ box1.y = 0.2;
+ box1.z = 0.1;
+ box2.x = 0.2;
+ box2.y = 0.1;
+ box2.z = 0.2;
+
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.01;
+ }
+
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., -0.1, 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+}
+
+TEST(mprBoxboxAlignedY)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, 0., -5., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[1] += 0.1;
+ }
+}
+
+TEST(mprBoxboxAlignedZ)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, 0., 0., -5.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i < 35 || i > 65){
+ assertFalse(res);
+ }else if (i != 35 && i != 65){
+ assertTrue(res);
+ }
+
+ box1.pos.v[2] += 0.1;
+ }
+}
+
+
+TEST(mprBoxboxRot)
+{
+ size_t i;
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t angle;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ box1.x = 1;
+ box1.y = 2;
+ box1.z = 1;
+ box2.x = 2;
+ box2.y = 1;
+ box2.z = 2;
+
+ ccdVec3Set(&box1.pos, -5., 0.5, 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i < 33 || i > 67){
+ assertFalse(res);
+ }else if (i != 33 && i != 67){
+ assertTrue(res);
+ }
+
+ box1.pos.v[0] += 0.1;
+ }
+
+ box1.x = 1;
+ box1.y = 1;
+ box1.z = 1;
+ box2.x = 1;
+ box2.y = 1;
+ box2.z = 1;
+
+ ccdVec3Set(&box1.pos, -1.01, 0., 0.);
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ angle = 0.;
+ for (i = 0; i < 30; i++){
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+
+ if (i != 0 && i != 10 && i != 20){
+ assertTrue(res);
+ }else{
+ assertFalse(res);
+ }
+
+ angle += M_PI / 20.;
+ ccdQuatSetAngleAxis(&box1.quat, angle, &axis);
+ }
+
+}
+
+
+
+static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v)
+{
+ fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n",
+ ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos));
+ fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n",
+ box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]);
+ fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n",
+ ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos));
+ fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n",
+ box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]);
+ fprintf(stdout, "# sep: [%lf %lf %lf]\n",
+ ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v));
+ fprintf(stdout, "#\n");
+}
+
+TEST(mprBoxboxSeparate)
+{
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t sep, expsep, expsep2, axis;
+
+ fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n");
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2);
+ res = ccdMPRIntersect(&box1, &box2, &ccd);
+ assertTrue(res);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0.25, 0., 0.);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+ ccdVec3Scale(&sep, -1.);
+ ccdVec3Add(&box1.pos, &sep);
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., 0.);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., -0.25);
+ assertTrue(ccdVec3Eq(&sep, &expsep));
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ ccdVec3Set(&expsep, 0., 0., 1.);
+ ccdVec3Set(&expsep2, 0., 0., -1.);
+ assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2));
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ pConf(&box1, &box2, &sep);
+
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdGJKSeparate(&box1, &box2, &ccd, &sep);
+ assertTrue(res == 0);
+ pConf(&box1, &box2, &sep);
+}
+
+
+#define TOSVT() \
+ svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&box2.pos, &dir); \
+ svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos)
+
+TEST(mprBoxboxPenetration)
+{
+ ccd_t ccd;
+ CCD_BOX(box1);
+ CCD_BOX(box2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_quat_t rot;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5;
+ box2.y = 1.;
+ box2.z = 1.5;
+
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ /*
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ TOSVT();
+ */
+
+ ccdVec3Set(&box2.pos, 0.1, 0., 0.);
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+
+ ccdVec3Set(&box1.pos, -0.3, 0.5, 1.);
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, 0.1, 0., 0.1);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0., 0.);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.5, 0.);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+ ccdVec3Set(&box2.pos, 0.1, 0., 0.);
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 1., 1.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 7");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.2; box2.y = 0.5; box2.z = 1.;
+ box2.x = box2.y = box2.z = 1.;
+
+ ccdVec3Set(&axis, 0., 0., 1.);
+ ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis);
+ ccdVec3Set(&axis, 1., 0., 0.);
+ ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis);
+ ccdQuatMul(&box1.quat, &rot);
+ ccdVec3Set(&box1.pos, -1.3, 0., 0.);
+
+ ccdVec3Set(&box2.pos, 0., 0., 0.);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 8");
+ //TOSVT();
+
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5; box2.y = 0.5; box2.z = .5;
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdVec3Set(&box2.pos, 0., 0.73, 0.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 9");
+ //TOSVT();
+
+ box1.x = box1.y = box1.z = 1.;
+ box2.x = 0.5; box2.y = 0.5; box2.z = .5;
+ ccdVec3Set(&box1.pos, 0., 0., 0.);
+ ccdQuatSet(&box1.quat, 0., 0., 0., 1.);
+ ccdVec3Set(&box2.pos, 0.3, 0.738, 0.);
+ ccdQuatSet(&box2.quat, 0., 0., 0., 1.);
+
+ res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 10");
+ //TOSVT();
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h
new file mode 100644
index 0000000..e6922aa
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxbox.h
@@ -0,0 +1,26 @@
+#ifndef MPR_BOX_BOX
+#define MPR_BOX_BOX
+
+#include <cu/cu.h>
+
+TEST(mprBoxboxAlignedX);
+TEST(mprBoxboxAlignedY);
+TEST(mprBoxboxAlignedZ);
+
+TEST(mprBoxboxRot);
+
+TEST(mprBoxboxSeparate);
+TEST(mprBoxboxPenetration);
+
+TEST_SUITE(TSMPRBoxBox) {
+ TEST_ADD(mprBoxboxAlignedX),
+ TEST_ADD(mprBoxboxAlignedY),
+ TEST_ADD(mprBoxboxAlignedZ),
+ TEST_ADD(mprBoxboxRot),
+ //TEST_ADD(mprBoxboxSeparate),
+ TEST_ADD(mprBoxboxPenetration),
+
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c
new file mode 100644
index 0000000..7a1b7fa
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.c
@@ -0,0 +1,165 @@
+#include <cu/cu.h>
+#include "common.h"
+#include <ccd/ccd.h>
+#include "support.h"
+
+#define TOSVT() \
+ svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&cyl.pos, &dir); \
+ svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos)
+
+TEST(mprBoxcylIntersect)
+{
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ int res;
+ ccd_vec3_t axis;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ res = ccdMPRIntersect(&box, &cyl, &ccd);
+ assertTrue(res);
+}
+
+
+
+TEST(mprBoxcylPen)
+{
+ ccd_t ccd;
+ CCD_BOX(box);
+ CCD_CYL(cyl);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ box.x = 0.5;
+ box.y = 1.;
+ box.z = 1.5;
+ cyl.radius = 0.4;
+ cyl.height = 0.7;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ ccdVec3Set(&cyl.pos, 0.1, 0., 0.);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+ ccdVec3Set(&cyl.pos, .6, 0., 0.);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT();
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0., 1., 0.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0.6, 0.5);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0.67, 1.1, 0.12);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .6, 0., 0.5);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 7");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -0.1, 2.2, -1.);
+ ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis);
+ ccdVec3Set(&cyl.pos, .6, 0., 0.5);
+ ccdVec3Set(&axis, 1., 1., 0.);
+ ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis);
+ ccdVec3Set(&box.pos, .9, 0.8, 0.5);
+ res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 8");
+ //TOSVT();
+}
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h
new file mode 100644
index 0000000..86f14e6
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_boxcyl.h
@@ -0,0 +1,16 @@
+#ifndef MPR_TEST_BOXCYL_H
+#define MPR_TEST_BOXCYL_H
+
+#include <cu/cu.h>
+
+TEST(mprBoxcylIntersect);
+TEST(mprBoxcylPen);
+
+TEST_SUITE(TSMPRBoxCyl){
+ TEST_ADD(mprBoxcylIntersect),
+ TEST_ADD(mprBoxcylPen),
+
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c
new file mode 100644
index 0000000..ec0a3bc
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.c
@@ -0,0 +1,179 @@
+#include <stdio.h>
+#include <cu/cu.h>
+#include <ccd/ccd.h>
+#include "support.h"
+#include "common.h"
+
+
+TEST(mprCylcylAlignedX)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, -5., 0., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&c1, &c2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[0] += 0.1;
+ }
+}
+
+TEST(mprCylcylAlignedY)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, 0., -5., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&c1, &c2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[1] += 0.1;
+ }
+}
+
+TEST(mprCylcylAlignedZ)
+{
+ ccd_t ccd;
+ CCD_CYL(c1);
+ CCD_CYL(c2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ c1.radius = 0.35;
+ c1.height = 0.5;
+ c2.radius = 0.5;
+ c2.height = 1.;
+
+ ccdVec3Set(&c1.pos, 0., 0., -5.);
+ for (i = 0; i < 100; i++){
+ res = ccdMPRIntersect(&c1, &c2, &ccd);
+
+ if (i < 43 || i > 57){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ c1.pos.v[2] += 0.1;
+ }
+}
+
+#define TOSVT() \
+ svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \
+ ccdVec3Scale(&dir, depth); \
+ ccdVec3Add(&cyl2.pos, &dir); \
+ svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos)
+
+TEST(mprCylcylPenetration)
+{
+ ccd_t ccd;
+ CCD_CYL(cyl1);
+ CCD_CYL(cyl2);
+ int res;
+ ccd_vec3_t axis;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+
+ fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n");
+
+ cyl1.radius = 0.35;
+ cyl1.height = 0.5;
+ cyl2.radius = 0.5;
+ cyl2.height = 1.;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+ ccd.center1 = ccdObjCenter;
+ ccd.center2 = ccdObjCenter;
+
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.3);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 1");
+ //TOSVT();
+
+ ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 2");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0., 0., 0.);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 3");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0., 1., 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 4");
+ //TOSVT();
+
+ ccdVec3Set(&axis, 0.567, 1.2, 1.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 5");
+ //TOSVT();
+
+ ccdVec3Set(&axis, -4.567, 1.2, 0.);
+ ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis);
+ ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2);
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ assertTrue(res == 0);
+ recPen(depth, &dir, &pos, stdout, "Pen 6");
+ //TOSVT();
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h
new file mode 100644
index 0000000..2d2162b
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/mpr_cylcyl.h
@@ -0,0 +1,23 @@
+#ifndef MPR_CYL_CYL
+#define MPR_CYL_CYL
+
+#include <cu/cu.h>
+
+TEST(mprCylcylAlignedX);
+TEST(mprCylcylAlignedY);
+TEST(mprCylcylAlignedZ);
+
+TEST(mprCylcylPenetration);
+
+TEST_SUITE(TSMPRCylCyl) {
+ TEST_ADD(mprCylcylAlignedX),
+ TEST_ADD(mprCylcylAlignedY),
+ TEST_ADD(mprCylcylAlignedZ),
+
+ TEST_ADD(mprCylcylPenetration),
+
+ TEST_SUITE_CLOSURE
+};
+
+#endif
+
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/polytope.c b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c
new file mode 100644
index 0000000..65686fb
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/polytope.c
@@ -0,0 +1,398 @@
+//#undef NDEBUG
+#include <cu/cu.h>
+#include <ccd/polytope.h>
+#include <ccd/dbg.h>
+
+TEST(ptSetUp)
+{
+}
+
+TEST(ptTearDown)
+{
+}
+
+
+TEST(ptCreate1)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[3];
+ ccd_pt_edge_t *e[3];
+ ccd_pt_face_t *f;
+ ccd_vec3_t u;
+ int res;
+ size_t i;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+ ccdPtDestroy(&pt);
+
+
+ ccdPtInit(&pt);
+
+ ccdVec3Set(&u, -1., -1., 0.);
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
+
+ ccdVec3Set(&u, 1., 0., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
+
+ ccdVec3Set(&u, 0., 0., 1.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
+
+ for (i = 0; i < 3; i++){
+ assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
+ }
+
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ for (i = 0; i < 3; i++){
+ DBG("e[%d]->dist: %lf", i, e[i]->dist);
+ DBG_VEC3(&e[i]->witness, " ->witness: ");
+ }
+
+ f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ DBG("f->dist: %lf", f->dist);
+ DBG_VEC3(&f->witness, " ->witness: ");
+
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ ccdPtDelFace(&pt, f);
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertTrue(res == 0);
+ }
+ for (i = 0; i < 3; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertTrue(res == 0);
+ }
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+
+ f = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+
+ ccdPtDestroy(&pt);
+}
+
+TEST(ptCreate2)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[4];
+ ccd_pt_edge_t *e[6];
+ ccd_pt_face_t *f[4];
+ ccd_vec3_t u;
+ int res;
+ unsigned int i;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+
+ ccdVec3Set(&u, -1., -1., 0.);
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[0]->v.v));
+
+ ccdVec3Set(&u, 1., 0., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[1]->v.v));
+
+ ccdVec3Set(&u, 0., 0., 1.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ assertTrue(ccdVec3Eq(&u, &v[2]->v.v));
+
+ ccdVec3Set(&u, 0., 1., 0.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+ assertTrue(ccdVec3Eq(&u, &v[3]->v.v));
+
+ for (i = 0; i < 4; i++){
+ assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v)));
+ }
+ for (i = 0; i < 4; i++){
+ DBG("v[%d]->dist: %lf", i, v[i]->dist);
+ DBG_VEC3(&v[i]->witness, " ->witness: ");
+ }
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+ for (i = 0; i < 6; i++){
+ DBG("e[%d]->dist: %lf", i, e[i]->dist);
+ DBG_VEC3(&e[i]->witness, " ->witness: ");
+ }
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+ for (i = 0; i < 4; i++){
+ DBG("f[%d]->dist: %lf", i, f[i]->dist);
+ DBG_VEC3(&f[i]->witness, " ->witness: ");
+ }
+
+ for (i = 0; i < 4; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+ for (i = 0; i < 6; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[0]);
+ for (i = 0; i < 6; i++){
+ res = ccdPtDelEdge(&pt, e[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[1]);
+ assertTrue(ccdPtDelEdge(&pt, e[0]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[1]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[4]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
+ for (i = 0; i < 4; i++){
+ res = ccdPtDelVertex(&pt, v[i]);
+ assertFalse(res == 0);
+ }
+
+ res = ccdPtDelFace(&pt, f[2]);
+ assertTrue(ccdPtDelEdge(&pt, e[1]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[4]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertFalse(ccdPtDelEdge(&pt, e[5]) == 0);
+
+ assertTrue(ccdPtDelVertex(&pt, v[1]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[0]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[2]) == 0);
+ assertFalse(ccdPtDelVertex(&pt, v[3]) == 0);
+
+ res = ccdPtDelFace(&pt, f[3]);
+ assertTrue(ccdPtDelEdge(&pt, e[2]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[3]) == 0);
+ assertTrue(ccdPtDelEdge(&pt, e[5]) == 0);
+
+ assertTrue(ccdPtDelVertex(&pt, v[0]) == 0);
+ assertTrue(ccdPtDelVertex(&pt, v[2]) == 0);
+ assertTrue(ccdPtDelVertex(&pt, v[3]) == 0);
+
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+
+ ccdPtDestroy(&pt);
+}
+
+TEST(ptNearest)
+{
+ ccd_pt_t pt;
+ ccd_pt_vertex_t *v[4];
+ ccd_pt_edge_t *e[6];
+ ccd_pt_face_t *f[4];
+ ccd_pt_el_t *nearest;
+
+ DBG2("------");
+
+ ccdPtInit(&pt);
+
+ v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.);
+ v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.);
+ v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.);
+ v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.);
+
+ e[0] = ccdPtAddEdge(&pt, v[0], v[1]);
+ e[1] = ccdPtAddEdge(&pt, v[1], v[2]);
+ e[2] = ccdPtAddEdge(&pt, v[2], v[0]);
+ e[3] = ccdPtAddEdge(&pt, v[3], v[0]);
+ e[4] = ccdPtAddEdge(&pt, v[3], v[1]);
+ e[5] = ccdPtAddEdge(&pt, v[3], v[2]);
+
+ f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]);
+ f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]);
+ f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]);
+ f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]);
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertEquals(nearest, (ccd_pt_el_t *)f[1]);
+ assertTrue(ccdPtDelFace(&pt, f[1]) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertTrue(nearest == (ccd_pt_el_t *)f[0]
+ || nearest == (ccd_pt_el_t *)f[3]);
+ assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertTrue(nearest == (ccd_pt_el_t *)f[0]
+ || nearest == (ccd_pt_el_t *)f[3]);
+ assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[0]
+ || nearest == (ccd_pt_el_t *)e[3]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[0]
+ || nearest == (ccd_pt_el_t *)e[3]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_FACE);
+ assertEquals(nearest, (ccd_pt_el_t *)f[2]);
+ assertTrue(ccdPtDelFace(&pt, f[2]) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[1]
+ || nearest == (ccd_pt_el_t *)e[4]
+ || nearest == (ccd_pt_el_t *)e[5]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_EDGE);
+ assertTrue(nearest == (ccd_pt_el_t *)e[2]);
+ assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[1]
+ || nearest == (ccd_pt_el_t *)v[2]
+ || nearest == (ccd_pt_el_t *)v[3]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ //DBG("nearest->type: %d", nearest->type);
+ //DBG(" ->dist: %lf", nearest->dist);
+ //DBG_VEC3(&nearest->witness, " ->witness: ");
+ assertEquals(nearest->type, CCD_PT_VERTEX);
+ assertTrue(nearest == (ccd_pt_el_t *)v[0]);
+ assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0);
+
+
+ nearest = ccdPtNearest(&pt);
+ assertTrue(nearest == NULL);
+
+ ccdPtDestroy(&pt);
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/polytope.h b/libs/ode-0.16.1/libccd/src/testsuites/polytope.h
new file mode 100644
index 0000000..cf31546
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/polytope.h
@@ -0,0 +1,24 @@
+#ifndef TEST_POLYTOPE_H
+#define TEST_POLYTOPE_H
+
+#include <cu/cu.h>
+
+TEST(ptSetUp);
+TEST(ptTearDown);
+
+TEST(ptCreate1);
+TEST(ptCreate2);
+TEST(ptNearest);
+
+TEST_SUITE(TSPt) {
+ TEST_ADD(ptSetUp),
+
+ TEST_ADD(ptCreate1),
+ TEST_ADD(ptCreate2),
+ TEST_ADD(ptNearest),
+
+ TEST_ADD(ptTearDown),
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c
new file mode 100644
index 0000000..36628f6
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.c
@@ -0,0 +1,99 @@
+#include <stdio.h>
+#include <cu/cu.h>
+#include "support.h"
+#include <ccd/ccd.h>
+
+TEST(spheresphereSetUp)
+{
+}
+
+TEST(spheresphereTearDown)
+{
+}
+
+TEST(spheresphereAlignedX)
+{
+ ccd_t ccd;
+ CCD_SPHERE(s1);
+ CCD_SPHERE(s2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ s1.radius = 0.35;
+ s2.radius = .5;
+
+ ccdVec3Set(&s1.pos, -5., 0., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&s1, &s2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ s1.pos.v[0] += 0.1;
+ }
+}
+
+TEST(spheresphereAlignedY)
+{
+ ccd_t ccd;
+ CCD_SPHERE(s1);
+ CCD_SPHERE(s2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ s1.radius = 0.35;
+ s2.radius = .5;
+
+ ccdVec3Set(&s1.pos, 0., -5., 0.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&s1, &s2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ s1.pos.v[1] += 0.1;
+ }
+}
+
+TEST(spheresphereAlignedZ)
+{
+ ccd_t ccd;
+ CCD_SPHERE(s1);
+ CCD_SPHERE(s2);
+ size_t i;
+ int res;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = ccdSupport;
+ ccd.support2 = ccdSupport;
+
+ s1.radius = 0.35;
+ s2.radius = .5;
+
+ ccdVec3Set(&s1.pos, 0., 0., -5.);
+ for (i = 0; i < 100; i++){
+ res = ccdGJKIntersect(&s1, &s2, &ccd);
+
+ if (i < 42 || i > 58){
+ assertFalse(res);
+ }else{
+ assertTrue(res);
+ }
+
+ s1.pos.v[2] += 0.1;
+ }
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h
new file mode 100644
index 0000000..b032215
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/spheresphere.h
@@ -0,0 +1,24 @@
+#ifndef SPHERE_SPHERE
+#define SPHERE_SPHERE
+
+#include <cu/cu.h>
+
+TEST(spheresphereSetUp);
+TEST(spheresphereTearDown);
+
+TEST(spheresphereAlignedX);
+TEST(spheresphereAlignedY);
+TEST(spheresphereAlignedZ);
+
+TEST_SUITE(TSSphereSphere) {
+ TEST_ADD(spheresphereSetUp),
+
+ TEST_ADD(spheresphereAlignedX),
+ TEST_ADD(spheresphereAlignedY),
+ TEST_ADD(spheresphereAlignedZ),
+
+ TEST_ADD(spheresphereTearDown),
+ TEST_SUITE_CLOSURE
+};
+
+#endif
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/support.c b/libs/ode-0.16.1/libccd/src/testsuites/support.c
new file mode 100644
index 0000000..5f2b4c7
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/support.c
@@ -0,0 +1,85 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of libccd.
+ *
+ * Distributed under the OSI-approved BSD License (the "License");
+ * see accompanying file BDS-LICENSE for details or see
+ * <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ * This software is distributed WITHOUT ANY WARRANTY; without even the
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the License for more information.
+ */
+
+#include <stdio.h>
+#include <ccd/ccd.h>
+#include <ccd/vec3.h>
+#include "support.h"
+
+void ccdSupport(const void *_obj, const ccd_vec3_t *_dir,
+ ccd_vec3_t *v)
+{
+ // Support function is made according to Gino van den Bergen's paper
+ // A Fast and Robust CCD Implementation for Collision Detection of
+ // Convex Objects
+
+ ccd_obj_t *obj = (ccd_obj_t *)_obj;
+ ccd_vec3_t dir;
+ ccd_quat_t qinv;
+
+ ccdVec3Copy(&dir, _dir);
+ ccdQuatInvert2(&qinv, &obj->quat);
+
+ ccdQuatRotVec(&dir, &qinv);
+
+ if (obj->type == CCD_OBJ_BOX){
+ ccd_box_t *box = (ccd_box_t *)obj;
+ ccdVec3Set(v, ccdSign(ccdVec3X(&dir)) * box->x * CCD_REAL(0.5),
+ ccdSign(ccdVec3Y(&dir)) * box->y * CCD_REAL(0.5),
+ ccdSign(ccdVec3Z(&dir)) * box->z * CCD_REAL(0.5));
+ }else if (obj->type == CCD_OBJ_SPHERE){
+ ccd_sphere_t *sphere = (ccd_sphere_t *)obj;
+ ccd_real_t len;
+
+ len = ccdVec3Len2(&dir);
+ if (len - CCD_EPS > CCD_ZERO){
+ ccdVec3Copy(v, &dir);
+ ccdVec3Scale(v, sphere->radius / CCD_SQRT(len));
+ }else{
+ ccdVec3Set(v, CCD_ZERO, CCD_ZERO, CCD_ZERO);
+ }
+ }else if (obj->type == CCD_OBJ_CYL){
+ ccd_cyl_t *cyl = (ccd_cyl_t *)obj;
+ ccd_real_t zdist, rad;
+
+ zdist = dir.v[0] * dir.v[0] + dir.v[1] * dir.v[1];
+ zdist = CCD_SQRT(zdist);
+ if (ccdIsZero(zdist)){
+ ccdVec3Set(v, CCD_ZERO, CCD_ZERO,
+ ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5));
+ }else{
+ rad = cyl->radius / zdist;
+
+ ccdVec3Set(v, rad * ccdVec3X(&dir),
+ rad * ccdVec3Y(&dir),
+ ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5));
+ }
+ }
+
+ // transform support vertex
+ ccdQuatRotVec(v, &obj->quat);
+ ccdVec3Add(v, &obj->pos);
+}
+
+void ccdObjCenter(const void *_obj, ccd_vec3_t *center)
+{
+ ccd_obj_t *obj = (ccd_obj_t *)_obj;
+
+ ccdVec3Set(center, CCD_ZERO, CCD_ZERO, CCD_ZERO);
+ // rotation is not needed
+ ccdVec3Add(center, &obj->pos);
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/support.h b/libs/ode-0.16.1/libccd/src/testsuites/support.h
new file mode 100644
index 0000000..e444296
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/support.h
@@ -0,0 +1,102 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of libccd.
+ *
+ * Distributed under the OSI-approved BSD License (the "License");
+ * see accompanying file BDS-LICENSE for details or see
+ * <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ * This software is distributed WITHOUT ANY WARRANTY; without even the
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the License for more information.
+ */
+
+/***
+ * Some support() functions for some convex shapes.
+ */
+
+#ifndef __CCD_SUPPORT_H__
+#define __CCD_SUPPORT_H__
+
+#include <ccd/quat.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#define CCD_OBJ_BOX 1
+#define CCD_OBJ_SPHERE 2
+#define CCD_OBJ_CYL 3
+
+#define __CCD_OBJ__ \
+ int type; \
+ ccd_vec3_t pos; \
+ ccd_quat_t quat;
+
+struct _ccd_obj_t {
+ __CCD_OBJ__
+};
+typedef struct _ccd_obj_t ccd_obj_t;
+
+struct _ccd_box_t {
+ __CCD_OBJ__
+ ccd_real_t x, y, z; //!< Lengths of box's edges
+};
+typedef struct _ccd_box_t ccd_box_t;
+
+struct _ccd_sphere_t {
+ __CCD_OBJ__
+ ccd_real_t radius;
+};
+typedef struct _ccd_sphere_t ccd_sphere_t;
+
+struct _ccd_cyl_t {
+ __CCD_OBJ__
+ ccd_real_t radius;
+ ccd_real_t height;
+};
+typedef struct _ccd_cyl_t ccd_cyl_t;
+
+
+#define CCD_BOX(name) \
+ ccd_box_t name = { .type = CCD_OBJ_BOX, \
+ .pos = { .v = { 0., 0., 0. } }, \
+ .quat = { .q = { 0., 0., 0., 1. } }, \
+ .x = 0., \
+ .y = 0., \
+ .z = 0. }
+
+#define CCD_SPHERE(name) \
+ ccd_sphere_t name = { .type = CCD_OBJ_SPHERE, \
+ .pos = { .v = { 0., 0., 0. } }, \
+ .quat = { .q = { 0., 0., 0., 1. } }, \
+ .radius = 0. }
+
+#define CCD_CYL(name) \
+ ccd_cyl_t name = { .type = CCD_OBJ_CYL, \
+ .pos = { .v = { 0., 0., 0. } }, \
+ .quat = { .q = { 0., 0., 0., 1. } }, \
+ .radius = 0., \
+ .height = 0. }
+
+/**
+ * Returns supporting vertex via v.
+ * Supporting vertex is fathest vertex from object in direction dir.
+ */
+void ccdSupport(const void *obj, const ccd_vec3_t *dir,
+ ccd_vec3_t *v);
+
+/**
+ * Returns center of object.
+ */
+void ccdObjCenter(const void *obj, ccd_vec3_t *center);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SUPPORT_H__ */
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/vec3.c b/libs/ode-0.16.1/libccd/src/testsuites/vec3.c
new file mode 100644
index 0000000..007f310
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/vec3.c
@@ -0,0 +1,273 @@
+#include <stdio.h>
+#include <cu/cu.h>
+#include <ccd/vec3.h>
+
+TEST(vec3SetUp)
+{
+}
+
+TEST(vec3TearDown)
+{
+}
+
+
+TEST(vec3PointSegmentDist)
+{
+ ccd_vec3_t P, a, b, w, ew;
+ ccd_real_t dist;
+
+ ccdVec3Set(&a, 0., 0., 0.);
+ ccdVec3Set(&b, 1., 0., 0.);
+
+ // extereme w == a
+ ccdVec3Set(&P, -1., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 1.));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -0.5, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.5 * 0.5));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -0.1, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, .1 * .1));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, 0., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -1., 1., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 2.));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -0.5, 0.5, 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.5));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -0.1, -1., 2.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 5.01));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+
+ // extereme w == b
+ ccdVec3Set(&P, 2., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 1.));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 1.5, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.5 * 0.5));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 1.1, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, .1 * .1));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 1., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 2., 1., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 2.));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 1.5, 0.5, 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.5));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 1.1, -1., 2.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 5.01));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ // inside segment
+ ccdVec3Set(&P, .5, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &P));
+
+ ccdVec3Set(&P, .9, 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &P));
+
+ ccdVec3Set(&P, .5, 1., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 1.));
+ ccdVec3Set(&ew, 0.5, 0., 0.);
+ assertTrue(ccdVec3Eq(&w, &ew));
+
+ ccdVec3Set(&P, .5, 1., 1.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 2.));
+ ccdVec3Set(&ew, 0.5, 0., 0.);
+ assertTrue(ccdVec3Eq(&w, &ew));
+
+
+
+ ccdVec3Set(&a, -.5, 2., 1.);
+ ccdVec3Set(&b, 1., 1.5, 0.5);
+
+ // extereme w == a
+ ccdVec3Set(&P, -10., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 9.5 * 9.5 + 2. * 2. + 1.));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, -10., 9.2, 3.4);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 9.5 * 9.5 + 7.2 * 7.2 + 2.4 * 2.4));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ // extereme w == b
+ ccdVec3Set(&P, 10., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 9. * 9. + 1.5 * 1.5 + 0.5 * 0.5));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, 10., 9.2, 3.4);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 9. * 9. + 7.7 * 7.7 + 2.9 * 2.9));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ // inside ab
+ ccdVec3Set(&a, -.1, 1., 1.);
+ ccdVec3Set(&b, 1., 1., 1.);
+ ccdVec3Set(&P, 0., 0., 0.);
+ dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w);
+ assertTrue(ccdEq(dist, 2.));
+ ccdVec3Set(&ew, 0., 1., 1.);
+ assertTrue(ccdVec3Eq(&w, &ew));
+}
+
+
+TEST(vec3PointTriDist)
+{
+ ccd_vec3_t P, a, b, c, w, P0;
+ ccd_real_t dist;
+
+ ccdVec3Set(&a, -1., 0., 0.);
+ ccdVec3Set(&b, 0., 1., 1.);
+ ccdVec3Set(&c, -1., 0., 1.);
+
+ ccdVec3Set(&P, -1., 0., 0.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ ccdVec3Set(&P, 0., 1., 1.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ ccdVec3Set(&P, -1., 0., 1.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &c));
+
+ ccdVec3Set(&P, 0., 0., 0.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, NULL);
+ assertTrue(ccdEq(dist, 2./3.));
+
+
+ // region 4
+ ccdVec3Set(&P, -2., 0., 0.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a)));
+ assertTrue(ccdVec3Eq(&w, &a));
+ ccdVec3Set(&P, -2., 0.2, -1.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a)));
+ assertTrue(ccdVec3Eq(&w, &a));
+
+ // region 2
+ ccdVec3Set(&P, -1.3, 0., 1.2);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c)));
+ assertTrue(ccdVec3Eq(&w, &c));
+ ccdVec3Set(&P, -1.2, 0.2, 1.1);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c)));
+ assertTrue(ccdVec3Eq(&w, &c));
+
+ // region 6
+ ccdVec3Set(&P, 0.3, 1., 1.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b)));
+ assertTrue(ccdVec3Eq(&w, &b));
+ ccdVec3Set(&P, .1, 1., 1.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b)));
+ assertTrue(ccdVec3Eq(&w, &b));
+
+ // region 1
+ ccdVec3Set(&P, 0., 1., 2.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 1.));
+ assertTrue(ccdVec3Eq(&w, &b));
+ ccdVec3Set(&P, -1., 0., 2.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 1.));
+ assertTrue(ccdVec3Eq(&w, &c));
+ ccdVec3Set(&P, -0.5, 0.5, 2.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 1.));
+ ccdVec3Set(&P0, -0.5, 0.5, 1.);
+ assertTrue(ccdVec3Eq(&w, &P0));
+
+ // region 3
+ ccdVec3Set(&P, -2., -1., 0.7);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 2.));
+ ccdVec3Set(&P0, -1., 0., 0.7);
+ assertTrue(ccdVec3Eq(&w, &P0));
+
+ // region 5
+ ccdVec3Set(&P, 0., 0., 0.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 2./3.));
+ ccdVec3Set(&P0, -2./3., 1./3., 1./3.);
+ assertTrue(ccdVec3Eq(&w, &P0));
+
+ // region 0
+ ccdVec3Set(&P, -0.5, 0.5, 0.5);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &P));
+ ccdVec3Set(&P, -0.5, 0.5, 0.7);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &P));
+ ccdVec3Set(&P, -0.5, 0.5, 0.9);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.));
+ assertTrue(ccdVec3Eq(&w, &P));
+
+ ccdVec3Set(&P, 0., 0., 0.5);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.5));
+ ccdVec3Set(&P0, -.5, .5, .5);
+ assertTrue(ccdVec3Eq(&w, &P0));
+
+ ccdVec3Set(&a, -1., 0., 0.);
+ ccdVec3Set(&b, 0., 1., -1.);
+ ccdVec3Set(&c, 0., 1., 1.);
+ ccdVec3Set(&P, 0., 0., 0.);
+ dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w);
+ assertTrue(ccdEq(dist, 0.5));
+ ccdVec3Set(&P0, -.5, .5, 0.);
+ assertTrue(ccdVec3Eq(&w, &P0));
+ //fprintf(stderr, "dist: %lf\n", dist);
+}
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/vec3.h b/libs/ode-0.16.1/libccd/src/testsuites/vec3.h
new file mode 100644
index 0000000..2055947
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/vec3.h
@@ -0,0 +1,20 @@
+#ifndef TEST_VEC3_H
+#define TEST_VEC3_H
+
+#include <cu/cu.h>
+
+TEST(vec3SetUp);
+TEST(vec3TearDown);
+TEST(vec3PointSegmentDist);
+TEST(vec3PointTriDist);
+
+TEST_SUITE(TSVec3) {
+ TEST_ADD(vec3SetUp),
+
+ TEST_ADD(vec3PointSegmentDist),
+ TEST_ADD(vec3PointTriDist),
+
+ TEST_ADD(vec3TearDown),
+ TEST_SUITE_CLOSURE
+};
+#endif