add ode

1 files changed, 714 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp b/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp
new file mode 100644
index 0000000..d68cb6a
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp
@@ -0,0 +1,714 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+#include "bunny_geom.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+#define	DEGTORAD			0.01745329251994329577f				//!< PI / 180.0, convert degrees to radians
+
+int g_allow_trimesh;
+
+// Our heightfield geom
+dGeomID gheight;
+
+
+
+// Heightfield dimensions
+
+#define HFIELD_WSTEP			15			// Vertex count along edge >= 2
+#define HFIELD_DSTEP			31
+
+#define HFIELD_WIDTH			REAL( 4.0 )
+#define HFIELD_DEPTH			REAL( 8.0 )
+
+#define HFIELD_WSAMP			( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) )
+#define HFIELD_DSAMP			( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) )
+
+
+
+//<---- Convex Object
+dReal planes[]= // planes for a cube
+  {
+    1.0f ,0.0f ,0.0f ,0.25f,
+    0.0f ,1.0f ,0.0f ,0.25f,
+    0.0f ,0.0f ,1.0f ,0.25f,
+    0.0f ,0.0f ,-1.0f,0.25f,
+    0.0f ,-1.0f,0.0f ,0.25f,
+    -1.0f,0.0f ,0.0f ,0.25f
+    /*
+    1.0f ,0.0f ,0.0f ,2.0f,
+    0.0f ,1.0f ,0.0f ,1.0f,
+    0.0f ,0.0f ,1.0f ,1.0f,
+    0.0f ,0.0f ,-1.0f,1.0f,
+    0.0f ,-1.0f,0.0f ,1.0f,
+    -1.0f,0.0f ,0.0f ,0.0f
+    */
+  };
+const unsigned int planecount=6;
+
+dReal points[]= // points for a cube
+  {
+    0.25f,0.25f,0.25f,  //  point 0
+    -0.25f,0.25f,0.25f, //  point 1
+
+    0.25f,-0.25f,0.25f, //  point 2
+    -0.25f,-0.25f,0.25f,//  point 3
+
+    0.25f,0.25f,-0.25f, //  point 4
+    -0.25f,0.25f,-0.25f,//  point 5
+
+    0.25f,-0.25f,-0.25f,//  point 6
+    -0.25f,-0.25f,-0.25f,// point 7
+  };
+const unsigned int pointcount=8;
+unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawConvex dsDrawConvexD
+#define dsDrawTriangle dsDrawTriangleD
+#endif
+
+
+// some constants
+
+#define NUM 100			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 64		// maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+
+  // Trimesh only - double buffered matrices for 'last transform' setup
+  dReal matrix_dblbuff[ 16 * 2 ];
+  int last_matrix_index;
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int write_world = 0;
+
+
+
+
+//============================
+
+dGeomID TriMesh1;
+dGeomID TriMesh2;
+//static dTriMeshDataID TriData1, TriData2;  // reusable static trimesh data
+
+//============================
+
+
+dReal heightfield_callback( void*, int x, int z )
+{
+    dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 );
+    dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 );
+
+    // Create an interesting 'hump' shape
+    dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) );
+
+    return h;
+}
+
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i;
+    // if (o1->body && o2->body) return;
+
+    // exit without doing anything if the two bodies are connected by a joint
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+    if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
+        return;
+
+    dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+    for (i=0; i<MAX_CONTACTS; i++) {
+        contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+        contact[i].surface.mu = dInfinity;
+        contact[i].surface.mu2 = 0;
+        contact[i].surface.bounce = 0.1;
+        contact[i].surface.bounce_vel = 0.1;
+        contact[i].surface.soft_cfm = 0.01;
+    }
+    if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
+                            sizeof(dContact))) {
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        const dReal ss[3] = {0.02,0.02,0.02};
+        for (i=0; i<numc; i++) {
+            dJointID c = dJointCreateContact(world,contactgroup,contact+i);
+            dJointAttach(c,b1,b2);
+            if (show_contacts) {
+                dsSetColor(0,0,1);
+                dsDrawBox(contact[i].geom.pos,RI,ss);
+            }
+        }
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+    static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+    dsSetViewpoint (xyz,hpr);
+    printf("To drop another object, press:\n");
+    printf("   b for box.\n");
+    printf("   s for sphere.\n");
+    printf("   c for capsule.\n");
+    printf("   y for cylinder.\n");
+    printf("   v for a convex object.\n");
+    printf("   x for a composite object.\n");
+    if ( g_allow_trimesh )
+	printf("   m for a trimesh.\n");
+    printf("To select an object, press space.\n");
+    printf("To disable the selected object, press d.\n");
+    printf("To enable the selected object, press e.\n");
+    printf("To toggle showing the geom AABBs, press a.\n");
+    printf("To toggle showing the contact points, press t.\n");
+    printf("To toggle dropping from random position/orientation, press r.\n");
+    printf("To save the current state to 'state.dif', press 1.\n");
+}
+
+
+char locase(char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command(int cmd)
+{
+    dsizeint i;
+    int j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase (cmd);
+
+
+    //
+    // Geom Creation
+    //
+
+    if ( cmd == 'b' || cmd == 's' || cmd == 'c' || ( cmd == 'm' && g_allow_trimesh ) ||
+         cmd == 'x' || cmd == 'y' || cmd == 'v' ) {
+
+        if ( num < NUM ) {
+            i = num;
+            num++;
+        } else {
+            i = nextobj++;
+            nextobj %= num;
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy(obj[i].body);
+            obj[i].body = 0;
+
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k]) {
+                    dGeomDestroy(obj[i].geom[k]);
+                    obj[i].geom[k] = 0;
+                }
+        }
+
+        obj[i].body = dBodyCreate(world);
+        for (k=0; k<3; k++)
+            sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos) {
+            dBodySetPosition(obj[i].body,
+                             (dRandReal()-0.5)*HFIELD_WIDTH*0.75,
+                             (dRandReal()-0.5)*HFIELD_DEPTH*0.75,
+                             dRandReal() + 2 );
+            dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                               dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        } else {
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition(obj[k].body);
+                if (pos[2] > maxheight)
+                    maxheight = pos[2];
+            }
+            dBodySetPosition(obj[i].body, 0,maxheight+1,0);
+            dRFromAxisAndAngle(R,0,0,1,dRandReal()*10.0-5.0);
+        }
+
+        dBodySetRotation(obj[i].body,R);
+
+        if (cmd == 'b') {
+
+            dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+        } else if (cmd == 'c') {
+
+            sides[0] *= 0.5;
+            dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule(space,sides[0],sides[1]);
+
+        } else if (cmd == 'v') {
+
+            dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+
+        } else if (cmd == 'y') {
+
+            dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+        } else if (cmd == 's') {
+
+            sides[0] *= 0.5;
+            dMassSetSphere(&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere(space,sides[0]);
+
+        } else if (cmd == 'm' && g_allow_trimesh) {
+
+            dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
+            dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, 
+                                        &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+            dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+            obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
+
+            dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
+            printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
+            dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
+            dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
+
+        } else if (cmd == 'x') {
+
+            setBody = 1;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                }
+                else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+
+    //
+    // Control Commands
+    //
+
+    if (cmd == ' ') {
+
+        selected++;
+        if (selected >= num)
+            selected = 0;
+        if (selected < -1)
+            selected = 0;
+
+    } else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+        dBodyDisable(obj[selected].body);
+
+    } else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+        dBodyEnable(obj[selected].body);
+
+    } else if (cmd == 'a') {
+
+        show_aabb = !show_aabb;
+
+    } else if (cmd == 't') {
+
+        show_contacts = !show_contacts;
+
+    } else if (cmd == 'r') {
+
+        random_pos = !random_pos;
+
+    } else if (cmd == '1') {
+
+        write_world = 1;
+
+    }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    if (!g)
+        return;
+    if (!pos)
+        pos = dGeomGetPosition(g);
+    if (!R)
+        R = dGeomGetRotation(g);
+
+    int type = dGeomGetClass(g);
+    if (type == dBoxClass) {
+
+        dVector3 sides;
+        dGeomBoxGetLengths(g,sides);
+        dsDrawBox(pos,R,sides);
+
+    } else if (type == dSphereClass) {
+
+        dsDrawSphere(pos,R,dGeomSphereGetRadius(g));
+
+    } else if (type == dCapsuleClass) {
+
+        dReal radius,length;
+        dGeomCapsuleGetParams(g,&radius,&length);
+        dsDrawCapsule(pos,R,length,radius);
+
+    } else if (type == dConvexClass) {
+
+        //dVector3 sides={0.50,0.50,0.50};
+        dsDrawConvex(pos,R,planes,
+                     planecount,
+                     points,
+                     pointcount,
+                     polygons);
+
+    } else if (type == dCylinderClass) {
+
+        dReal radius,length;
+        dGeomCylinderGetParams(g,&radius,&length);
+        dsDrawCylinder(pos,R,length,radius);
+
+    } else if (type == dTriMeshClass) {
+
+        dTriIndex* Indices = (dTriIndex*)::Indices;
+
+        // assume all trimeshes are drawn as bunnies
+        for (int ii = 0; ii < IndexCount / 3; ii++) {
+            const dReal v[9] = { // explicit conversion from float to dReal
+                Vertices[Indices[ii * 3 + 0] * 3 + 0],
+                Vertices[Indices[ii * 3 + 0] * 3 + 1],
+                Vertices[Indices[ii * 3 + 0] * 3 + 2],
+                Vertices[Indices[ii * 3 + 1] * 3 + 0],
+                Vertices[Indices[ii * 3 + 1] * 3 + 1],
+                Vertices[Indices[ii * 3 + 1] * 3 + 2],
+                Vertices[Indices[ii * 3 + 2] * 3 + 0],
+                Vertices[Indices[ii * 3 + 2] * 3 + 1],
+                Vertices[Indices[ii * 3 + 2] * 3 + 2]
+            };
+            dsDrawTriangle(pos, R, &v[0], &v[3], &v[6], 1);
+        }
+
+    } else if (type == dHeightfieldClass) {
+
+        // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
+        int ox = (int) ( -HFIELD_WIDTH/2 );
+        int oz = (int) ( -HFIELD_DEPTH/2 );
+
+        //	for ( int tx = -1; tx < 2; ++tx )
+        //	for ( int tz = -1; tz < 2; ++tz )
+        dsSetColorAlpha (0.5,1,0.5,0.5);
+        dsSetTexture( DS_WOOD );
+
+        for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
+            for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) {
+                dReal a[3], b[3], c[3], d[3];
+
+                a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
+                a[ 1 ] = heightfield_callback( NULL, i, j );
+                a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
+
+                b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
+                b[ 1 ] = heightfield_callback( NULL, i + 1, j );
+                b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
+
+                c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
+                c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
+                c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
+                
+                d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
+                d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
+                d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
+
+                dsDrawTriangle( pos, R, a, c, b, 1 );
+                dsDrawTriangle( pos, R, b, c, d, 1 );
+            }
+
+    }
+
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB(g,aabb);
+        dVector3 bbpos;
+        for (int i=0; i<3; i++)
+            bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (int i=0; i<3; i++)
+            bbsides[i] = aabb[i*2+1] - aabb[i*2];
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        dsSetColorAlpha(1,0,0,0.5);
+        dsDrawBox(bbpos,RI,bbsides);
+    }
+
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+    int i,j;
+  
+    dSpaceCollide(space,0,&nearCallback);
+  
+    if (!pause)
+        dWorldQuickStep(world,0.05);
+
+
+    if (write_world) {
+        FILE *f = fopen ("state.dif","wt");
+        if (f) {
+            dWorldExportDIF(world,f,"X");
+            fclose (f);
+        }
+        write_world = 0;
+    }
+
+    // remove all contact joints
+    dJointGroupEmpty(contactgroup);
+
+
+
+    //
+    // Draw Heightfield
+    //
+
+    drawGeom(gheight, 0, 0, 0);
+
+
+
+    dsSetColor (1,1,0);
+    dsSetTexture (DS_WOOD);
+    for (i=0; i<num; i++) {
+        for (j=0; j < GPB; j++) {
+            if (i==selected) {
+                dsSetColor (0,0.7,1);
+            } else if (! dBodyIsEnabled (obj[i].body)) {
+                dsSetColor (1,0.8,0);
+            } else {
+                dsSetColor (1,1,0);
+            }
+
+            drawGeom (obj[i].geom[j],0,0,show_aabb);
+        }
+    }
+
+}
+
+
+int main (int argc, char **argv)
+{
+    printf("ODE configuration: %s\n", dGetConfiguration());
+        
+    // Is trimesh support built into this ODE?
+    g_allow_trimesh = dCheckConfiguration( "ODE_EXT_trimesh" );
+
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    // create world
+    dInitODE2(0);
+    world = dWorldCreate();
+    space = dHashSpaceCreate (0);
+    contactgroup = dJointGroupCreate (0);
+    dWorldSetGravity(world,0,0,-0.05);
+    dWorldSetCFM(world,1e-5);
+    dWorldSetAutoDisableFlag(world,1);
+    dWorldSetContactMaxCorrectingVel(world,0.1);
+    dWorldSetContactSurfaceLayer(world,0.001);
+    memset(obj,0,sizeof(obj));
+
+    dWorldSetAutoDisableAverageSamplesCount( world, 1 );
+
+    // base plane to catch overspill
+    dCreatePlane( space, 0, 0, 1, 0 );
+
+
+    // our heightfield floor
+
+    dHeightfieldDataID heightid = dGeomHeightfieldDataCreate();
+
+    // Create an finite heightfield.
+    dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback,
+                                       HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP,
+                                       REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 );
+
+    // Give some very bounds which, while conservative,
+    // makes AABB computation more accurate than +/-INF.
+    dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) );
+
+    gheight = dCreateHeightfield( space, heightid, 1 );
+
+    dVector3 pos;
+    pos[ 0 ] = 0;
+    pos[ 1 ] = 0;
+    pos[ 2 ] = 0;
+
+    // Rotate so Z is up, not Y (which is the default orientation)
+    dMatrix3 R;
+    dRSetIdentity( R );
+    dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 );
+
+    // Place it.
+    dGeomSetRotation( gheight, R );
+    dGeomSetPosition( gheight, pos[0], pos[1], pos[2] );
+
+    dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+    dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+    // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+    dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+    // run simulation
+    dsSimulationLoop (argc,argv,352,288,&fn);
+
+    dThreadingImplementationShutdownProcessing(threading);
+    dThreadingFreeThreadPool(pool);
+    dWorldSetStepThreadingImplementation(world, NULL, NULL);
+    dThreadingFreeImplementation(threading);
+
+    dJointGroupDestroy (contactgroup);
+    dSpaceDestroy (space);
+    dWorldDestroy (world);
+
+    // destroy heightfield data, because _we_ own it not ODE
+    dGeomHeightfieldDataDestroy( heightid );
+
+    dCloseODE();
+}