add ode

1 files changed, 216 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/demo/icosahedron_geom.h b/libs/ode-0.16.1/ode/demo/icosahedron_geom.h
new file mode 100644
index 0000000..eb0a0ea
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/icosahedron_geom.h
@@ -0,0 +1,216 @@
+//<---- Icosahedron ---->
+/*
+   This is a description of a convex icosahedron, to test
+   the convex collision detection.
+*/
+unsigned int Sphere_pointcount = 42;
+unsigned int Sphere_planecount = 80;
+dReal Sphere_points[126]={
+0.000000,0.000000,-0.300000,
+0.217080,-0.157716,-0.134164,
+-0.082915,-0.255192,-0.134164,
+-0.268327,0.000000,-0.134164,
+-0.082915,0.255192,-0.134164,
+0.217080,0.157716,-0.134164,
+0.082915,-0.255192,0.134164,
+-0.217080,-0.157716,0.134164,
+-0.217080,0.157716,0.134164,
+0.082915,0.255192,0.134164,
+0.268327,0.000000,0.134164,
+0.000000,0.000000,0.300000,
+0.127597,-0.092703,-0.255196,
+-0.048737,-0.149999,-0.255196,
+0.078861,-0.242703,-0.157721,
+0.127597,0.092703,-0.255196,
+0.255194,0.000000,-0.157721,
+-0.157719,0.000000,-0.255195,
+-0.206457,-0.149999,-0.157721,
+-0.048737,0.149999,-0.255196,
+-0.206457,0.149999,-0.157721,
+0.078861,0.242703,-0.157721,
+0.285317,0.092704,0.000000,
+0.285317,-0.092704,0.000000,
+0.176336,-0.242705,0.000000,
+0.000000,-0.300000,0.000000,
+-0.176336,-0.242705,0.000000,
+-0.285317,-0.092704,0.000000,
+-0.285317,0.092704,0.000000,
+-0.176336,0.242705,0.000000,
+0.000000,0.300000,0.000000,
+0.176336,0.242705,0.000000,
+0.206457,-0.149999,0.157721,
+-0.078861,-0.242703,0.157721,
+-0.255194,0.000000,0.157721,
+-0.078861,0.242703,0.157721,
+0.206457,0.149999,0.157721,
+0.157719,0.000000,0.255195,
+0.048737,-0.149999,0.255196,
+-0.127597,-0.092703,0.255196,
+-0.127597,0.092703,0.255196,
+0.048737,0.149999,0.255196
+};
+unsigned int Sphere_polygons[]={
+3,14,12,1,
+3,12,14,13,
+3,2,13,14,
+3,13,0,12,
+3,16,1,12,
+3,12,15,16,
+3,5,16,15,
+3,12,0,15,
+3,18,13,2,
+3,13,18,17,
+3,3,17,18,
+3,17,0,13,
+3,20,17,3,
+3,17,20,19,
+3,4,19,20,
+3,19,0,17,
+3,21,19,4,
+3,19,21,15,
+3,5,15,21,
+3,15,0,19,
+3,23,1,16,
+3,16,22,23,
+3,10,23,22,
+3,22,16,5,
+3,25,2,14,
+3,14,24,25,
+3,6,25,24,
+3,24,14,1,
+3,27,3,18,
+3,18,26,27,
+3,7,27,26,
+3,26,18,2,
+3,29,4,20,
+3,20,28,29,
+3,8,29,28,
+3,28,20,3,
+3,31,5,21,
+3,21,30,31,
+3,9,31,30,
+3,30,21,4,
+3,32,23,10,
+3,23,32,24,
+3,6,24,32,
+3,24,1,23,
+3,33,25,6,
+3,25,33,26,
+3,7,26,33,
+3,26,2,25,
+3,34,27,7,
+3,27,34,28,
+3,8,28,34,
+3,28,3,27,
+3,35,29,8,
+3,29,35,30,
+3,9,30,35,
+3,30,4,29,
+3,36,31,9,
+3,31,36,22,
+3,10,22,36,
+3,22,5,31,
+3,38,6,32,
+3,32,37,38,
+3,11,38,37,
+3,37,32,10,
+3,39,7,33,
+3,33,38,39,
+3,11,39,38,
+3,38,33,6,
+3,40,8,34,
+3,34,39,40,
+3,11,40,39,
+3,39,34,7,
+3,41,9,35,
+3,35,40,41,
+3,11,41,40,
+3,40,35,8,
+3,37,10,36,
+3,36,41,37,
+3,11,37,41,
+3,41,36,9,
+};
+dReal Sphere_planes[]={
+0.471317,-0.583121,-0.661687,0.283056,
+0.187594,-0.577345,-0.794658,0.280252,
+-0.038547,-0.748789,-0.661687,0.283056,
+0.102381,-0.315090,-0.943523,0.283057,
+0.700228,-0.268049,-0.661688,0.283056,
+0.607060,0.000000,-0.794656,0.280252,
+0.700228,0.268049,-0.661688,0.283056,
+0.331305,0.000000,-0.943524,0.283057,
+-0.408939,-0.628443,-0.661686,0.283056,
+-0.491119,-0.356821,-0.794657,0.280252,
+-0.724044,-0.194735,-0.661694,0.283057,
+-0.268034,-0.194737,-0.943523,0.283057,
+-0.724044,0.194735,-0.661694,0.283057,
+-0.491119,0.356821,-0.794657,0.280252,
+-0.408939,0.628443,-0.661686,0.283056,
+-0.268034,0.194737,-0.943523,0.283057,
+-0.038547,0.748789,-0.661687,0.283056,
+0.187594,0.577345,-0.794658,0.280252,
+0.471317,0.583121,-0.661687,0.283056,
+0.102381,0.315090,-0.943523,0.283057,
+0.904981,-0.268049,-0.330393,0.283056,
+0.982246,0.000000,-0.187599,0.280252,
+0.992077,0.000000,0.125631,0.283057,
+0.904981,0.268049,-0.330393,0.283056,
+0.024726,-0.943519,-0.330396,0.283056,
+0.303531,-0.934171,-0.187598,0.280251,
+0.306568,-0.943519,0.125651,0.283056,
+0.534590,-0.777851,-0.330395,0.283056,
+-0.889698,-0.315092,-0.330386,0.283056,
+-0.794656,-0.577348,-0.187595,0.280251,
+-0.802607,-0.583125,0.125648,0.283055,
+-0.574584,-0.748793,-0.330397,0.283055,
+-0.574584,0.748793,-0.330397,0.283055,
+-0.794656,0.577348,-0.187595,0.280251,
+-0.802607,0.583125,0.125648,0.283055,
+-0.889698,0.315092,-0.330386,0.283056,
+0.534590,0.777851,-0.330395,0.283056,
+0.303531,0.934171,-0.187598,0.280251,
+0.306568,0.943519,0.125651,0.283056,
+0.024726,0.943519,-0.330396,0.283056,
+0.889698,-0.315092,0.330386,0.283056,
+0.794656,-0.577348,0.187595,0.280251,
+0.574584,-0.748793,0.330397,0.283055,
+0.802607,-0.583125,-0.125648,0.283055,
+-0.024726,-0.943519,0.330396,0.283055,
+-0.303531,-0.934171,0.187598,0.280251,
+-0.534590,-0.777851,0.330395,0.283056,
+-0.306568,-0.943519,-0.125651,0.283056,
+-0.904981,-0.268049,0.330393,0.283056,
+-0.982246,0.000000,0.187599,0.280252,
+-0.904981,0.268049,0.330393,0.283056,
+-0.992077,0.000000,-0.125631,0.283057,
+-0.534590,0.777851,0.330395,0.283056,
+-0.303531,0.934171,0.187598,0.280251,
+-0.024726,0.943519,0.330396,0.283055,
+-0.306568,0.943519,-0.125651,0.283056,
+0.574584,0.748793,0.330397,0.283055,
+0.794656,0.577348,0.187595,0.280251,
+0.889698,0.315092,0.330386,0.283056,
+0.802607,0.583125,-0.125648,0.283055,
+0.408939,-0.628443,0.661686,0.283056,
+0.491119,-0.356821,0.794657,0.280252,
+0.268034,-0.194737,0.943523,0.283057,
+0.724044,-0.194735,0.661694,0.283057,
+-0.471317,-0.583121,0.661687,0.283056,
+-0.187594,-0.577345,0.794658,0.280252,
+-0.102381,-0.315090,0.943523,0.283057,
+0.038547,-0.748789,0.661687,0.283056,
+-0.700228,0.268049,0.661688,0.283056,
+-0.607060,0.000000,0.794656,0.280252,
+-0.331305,0.000000,0.943524,0.283057,
+-0.700228,-0.268049,0.661688,0.283056,
+0.038547,0.748789,0.661687,0.283056,
+-0.187594,0.577345,0.794658,0.280252,
+-0.102381,0.315090,0.943523,0.283057,
+-0.471317,0.583121,0.661687,0.283056,
+0.724044,0.194735,0.661694,0.283057,
+0.491119,0.356821,0.794657,0.280252,
+0.268034,0.194737,0.943523,0.283057,
+0.408939,0.628443,0.661686,0.283056,
+};
+