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diff --git a/libs/ode-0.16.1/drawstuff/src/osx.cpp b/libs/ode-0.16.1/drawstuff/src/osx.cpp
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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+// Platform-specific code for Mac OS X using Carbon+AGL
+//
+// Created using x11.cpp and the window-initialization -routines from GLFW
+// as reference.
+// Not thoroughly tested and is certain to contain deficiencies and bugs
+
+#include <ode/odeconfig.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include "config.h"
+#include "common.h"
+
+#ifdef HAVE_SYS_TIME_H
+#include <sys/time.h>
+#endif
+
+#include <drawstuff/drawstuff.h>
+#include <drawstuff/version.h>
+#include "internal.h"
+
+#include <OpenGL/gl.h>
+#include <GLUT/glut.h>
+
+// Global variables
+
+static bool paused = false; // 1 if in `pause' mode
+static bool singlestep = false; // 1 if single step key pressed
+static bool writeframes = false; // 1 if frame files to be written
+
+static int windowWidth = -1;
+static int windowHeight = -1;
+static int mouseButtonMode = 0;
+static bool mouseWithOption = false; // Set if dragging the mouse with alt pressed
+static bool mouseWithControl = false; // Set if dragging the mouse with ctrl pressed
+
+static dsFunctions* functions = NULL;
+static int windowReference;
+static int frame = 1;
+static int prev_x = 0;
+static int prev_y = 0;
+
+//***************************************************************************
+// error handling for unix
+
+static void printMessage (const char *msg1, const char *msg2, va_list ap)
+{
+ fflush (stderr);
+ fflush (stdout);
+ fprintf (stderr,"\n%s: ",msg1);
+ vfprintf (stderr,msg2,ap);
+ fprintf (stderr,"\n");
+ fflush (stderr);
+}
+
+extern "C" void dsError (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ printMessage ("Error",msg,ap);
+ va_end (ap);
+ exit (1);
+}
+
+
+extern "C" void dsDebug (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ printMessage ("INTERNAL ERROR",msg,ap);
+ va_end (ap);
+ // *((char *)0) = 0; ... commit SEGVicide ?
+ abort();
+}
+
+extern "C" void dsPrint (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ vprintf (msg,ap);
+ va_end (ap);
+}
+
+static void captureFrame( int num ){
+
+ fprintf( stderr,"\rcapturing frame %04d", num );
+ unsigned char buffer[windowWidth*windowHeight][3];
+ glReadPixels( 0, 0, windowWidth, windowHeight, GL_RGB, GL_UNSIGNED_BYTE, &buffer );
+ char s[100];
+ sprintf (s,"frame%04d.ppm",num);
+ FILE *f = fopen (s,"wb");
+ if( !f ){
+ dsError( "can't open \"%s\" for writing", s );
+ }
+ fprintf( f,"P6\n%d %d\n255\n", windowWidth, windowHeight );
+ for( int y=windowHeight-1; y>-1; y-- ){
+ fwrite( buffer[y*windowWidth], 3*windowWidth, 1, f );
+ }
+ fclose (f);
+}
+
+extern "C" void dsStop()
+{
+}
+
+extern "C" double dsElapsedTime()
+{
+#if HAVE_GETTIMEOFDAY
+ static double prev=0.0;
+ timeval tv ;
+
+ gettimeofday(&tv, 0);
+ double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+ if (!prev)
+ prev=curr;
+ double retval = curr-prev;
+ prev=curr;
+ if (retval>1.0) retval=1.0;
+ if (retval<dEpsilon) retval=dEpsilon;
+ return retval;
+#else
+ return 0.01666; // Assume 60 fps
+#endif
+}
+
+int osxGetModifierMask()
+{
+ return glutGetModifiers() & ~GLUT_ACTIVE_SHIFT;
+}
+
+void osxKeyEventHandler( unsigned char key, int x, int y )
+{
+ unsigned char uppercase;
+ if (key >= 'a' && key <= 'z')
+ uppercase = key - ('a' - 'A');
+ else
+ uppercase = key;
+
+ int modifierMask = osxGetModifierMask();
+ if (modifierMask == 0)
+ {
+ if( key >= ' ' && key <= 126 && functions -> command )
+ functions -> command( key );
+ }
+ else if (modifierMask & GLUT_ACTIVE_CTRL)
+ {
+ // ctrl+key was pressed
+ uppercase += 'A' - 1;
+ switch(uppercase ){
+ case 'T':
+ dsSetTextures( !dsGetTextures() );
+ break;
+ case 'S':
+ dsSetShadows( !dsGetShadows() );
+ break;
+ case 'X':
+ exit(0);
+ break;
+ case 'P':
+ paused = !paused;
+ singlestep = false;
+ break;
+ case 'O':
+ if( paused ){
+ singlestep = true;
+ }
+ break;
+ case 'V': {
+ float xyz[3],hpr[3];
+ dsGetViewpoint( xyz,hpr );
+ printf( "Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", xyz[0], xyz[1], xyz[2], hpr[0], hpr[1], hpr[2] );
+ break;
+ }
+ case 'W':
+ writeframes = !writeframes;
+ if( writeframes ){
+ printf( "Now writing frames to PPM files\n" );
+ }
+ break;
+ }
+ }
+}
+
+void osxMouseEventHandler(int button, int state, int x, int y)
+{
+ prev_x = x;
+ prev_y = y;
+ bool buttonDown = false;
+ switch( state ){
+ case GLUT_DOWN:
+ buttonDown = true;
+ case GLUT_UP:
+ if( button == GLUT_LEFT_BUTTON ){
+ int modifierMask = osxGetModifierMask();
+ if( modifierMask & GLUT_ACTIVE_CTRL ){
+ // Ctrl+button == right
+ button = GLUT_RIGHT_BUTTON;
+ mouseWithControl = true;
+ }
+ else if( modifierMask & GLUT_ACTIVE_ALT ){
+ // Alt+button == left+right
+ mouseButtonMode = 5;
+ mouseWithOption = true;
+ return;
+ }
+ }
+ if( buttonDown ){
+ if( button == GLUT_LEFT_BUTTON ) mouseButtonMode |= 1; // Left
+ if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode |= 2; // Middle
+ if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode |= 4; // Right
+ }
+ else{
+ if( button == GLUT_LEFT_BUTTON ) mouseButtonMode &= (~1); // Left
+ if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode &= (~2); // Middle
+ if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode &= (~4); // Right
+ }
+ return;
+ }
+}
+
+void osxMotionEventHandler(int x, int y)
+{
+ dsMotion( mouseButtonMode, x - prev_x, y - prev_y );
+ prev_x = x;
+ prev_y = y;
+}
+
+void osxWindowReshapeEventHandler(int width, int height)
+{
+ windowWidth = width;
+ windowHeight = height;
+}
+
+static void osxCreateMainWindow( int width, int height )
+{
+ int argc = 1;
+ char* argv[2];
+ argv[0] = (char*)"";
+ argv[1] = NULL;
+ glutInit(&argc, argv);
+ glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
+ glutInitWindowSize(width, height);
+
+ windowReference = glutCreateWindow("ODE - Drawstuff");
+ windowWidth = width;
+ windowHeight = height;
+}
+
+void osxRedisplayEventHandler()
+{
+ dsDrawFrame( windowWidth, windowHeight, functions, paused && !singlestep );
+ singlestep = false;
+ glutSwapBuffers();
+
+ // capture frames if necessary
+ if( !paused && writeframes ){
+ captureFrame( frame );
+ frame++;
+ }
+}
+
+void osxTimerEventHandler(int);
+
+void osxInstallTimerHandler()
+{
+ glutTimerFunc(1000/60, osxTimerEventHandler, 0);
+}
+
+void osxTimerEventHandler(int)
+{
+ glutPostRedisplay();
+ osxInstallTimerHandler();
+}
+
+int osxInstallEventHandlers()
+{
+ glutKeyboardFunc(osxKeyEventHandler);
+ glutMouseFunc(osxMouseEventHandler);
+ glutMotionFunc(osxMotionEventHandler);
+ glutDisplayFunc(osxRedisplayEventHandler);
+ glutReshapeFunc(osxWindowReshapeEventHandler);
+ osxInstallTimerHandler();
+ return GL_TRUE;
+}
+
+extern void dsPlatformSimLoop( int givenWindowWidth, int givenWindowHeight, dsFunctions *fn, int givenPause ){
+
+ functions = fn;
+
+ paused = givenPause;
+
+ osxCreateMainWindow( givenWindowWidth, givenWindowHeight );
+ osxInstallEventHandlers();
+
+ dsStartGraphics( windowWidth, windowHeight, fn );
+
+ static bool firsttime=true;
+ if( firsttime )
+ {
+ fprintf
+ (
+ stderr,
+ "\n"
+ "Simulation test environment v%d.%02d\n"
+ " Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
+ " Ctrl-O : single step when paused.\n"
+ " Ctrl-T : toggle textures (or say `-notex' on command line).\n"
+ " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
+ " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
+ " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
+ " Ctrl-X : exit.\n"
+ "\n"
+ "Change the camera position by clicking + dragging in the window.\n"
+ " Left button - pan and tilt.\n"
+ " Right button (or Ctrl + button) - forward and sideways.\n"
+ " Left + Right button (or middle button, or Alt + button) - sideways and up.\n"
+ "\n",DS_VERSION >> 8,DS_VERSION & 0xff
+ );
+ firsttime = false;
+ }
+
+ if( fn -> start ) fn->start();
+
+ glutMainLoop();
+}
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