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diff --git a/libs/ode-0.16.1/drawstuff/src/x11.cpp b/libs/ode-0.16.1/drawstuff/src/x11.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. *
+ * *
+ *************************************************************************/
+
+// main window and event handling for X11
+
+#include <ode/odeconfig.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <X11/Xlib.h>
+#include <X11/Xatom.h>
+#include <X11/keysym.h>
+#include <GL/glx.h>
+#include "config.h"
+#include "common.h"
+
+#ifdef HAVE_SYS_TIME_H
+#include <sys/time.h>
+#endif
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+
+#include <drawstuff/drawstuff.h>
+#include <drawstuff/version.h>
+#include "internal.h"
+
+//***************************************************************************
+// error handling for unix
+
+static void printMessage (const char *msg1, const char *msg2, va_list ap)
+{
+ fflush (stderr);
+ fflush (stdout);
+ fprintf (stderr,"\n%s: ",msg1);
+ vfprintf (stderr,msg2,ap);
+ fprintf (stderr,"\n");
+ fflush (stderr);
+}
+
+
+extern "C" void dsError (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ printMessage ("Error",msg,ap);
+ va_end (ap);
+ exit (1);
+}
+
+
+extern "C" void dsDebug (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ printMessage ("INTERNAL ERROR",msg,ap);
+ va_end (ap);
+ // *((char *)0) = 0; ... commit SEGVicide ?
+ abort();
+}
+
+
+extern "C" void dsPrint (const char *msg, ...)
+{
+ va_list ap;
+ va_start (ap,msg);
+ vprintf (msg,ap);
+ va_end (ap);
+}
+
+//***************************************************************************
+// openGL window
+
+// X11 display info
+static Display *display=0;
+static int screen=0;
+static XVisualInfo *visual=0; // best visual for openGL
+static Colormap colormap=0; // window's colormap
+static Atom wm_protocols_atom = 0;
+static Atom wm_delete_window_atom = 0;
+
+// window and openGL
+static Window win=0; // X11 window, 0 if not initialized
+static int width=0,height=0; // window size
+static GLXContext glx_context=0; // openGL rendering context
+static int last_key_pressed=0; // last key pressed in the window
+static int run=1; // 1 if simulation running
+static int pausemode=0; // 1 if in `pause' mode
+static int singlestep=0; // 1 if single step key pressed
+static int writeframes=0; // 1 if frame files to be written
+
+
+static void createMainWindow (int _width, int _height)
+{
+ // create X11 display connection
+ display = XOpenDisplay (NULL);
+ if (!display) dsError ("can not open X11 display");
+ screen = DefaultScreen(display);
+
+ // get GL visual
+ static int attribListDblBuf[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16,
+ GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None};
+ static int attribList[] = {GLX_RGBA, GLX_DEPTH_SIZE,16,
+ GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None};
+ visual = glXChooseVisual (display,screen,attribListDblBuf);
+ if (!visual) visual = glXChooseVisual (display,screen,attribList);
+ if (!visual) dsError ("no good X11 visual found for OpenGL");
+
+ // create colormap
+ colormap = XCreateColormap (display,RootWindow(display,screen),
+ visual->visual,AllocNone);
+
+ // initialize variables
+ win = 0;
+ width = _width;
+ height = _height;
+ glx_context = 0;
+ last_key_pressed = 0;
+
+ if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
+
+ // create the window
+ XSetWindowAttributes attributes;
+ attributes.background_pixel = BlackPixel(display,screen);
+ attributes.colormap = colormap;
+ attributes.event_mask = ButtonPressMask | ButtonReleaseMask |
+ KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask |
+ StructureNotifyMask;
+ win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height,
+ 0,visual->depth, InputOutput,visual->visual,
+ CWBackPixel | CWColormap | CWEventMask,&attributes);
+
+ // associate a GLX context with the window
+ glx_context = glXCreateContext (display,visual,0,GL_TRUE);
+ if (!glx_context) dsError ("can't make an OpenGL context");
+
+ // set the window title
+ XTextProperty window_name;
+ window_name.value = (unsigned char *) "Simulation";
+ window_name.encoding = XA_STRING;
+ window_name.format = 8;
+ window_name.nitems = strlen((char *) window_name.value);
+ XSetWMName (display,win,&window_name);
+
+ // participate in the window manager 'delete yourself' protocol
+ wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False);
+ wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False);
+ if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0)
+ dsError ("XSetWMProtocols() call failed");
+
+ // pop up the window
+ XMapWindow (display,win);
+ XSync (display,win);
+}
+
+
+static void destroyMainWindow()
+{
+ glXDestroyContext (display,glx_context);
+ XDestroyWindow (display,win);
+ XSync (display,0);
+ XCloseDisplay(display);
+ display = 0;
+ win = 0;
+ glx_context = 0;
+}
+
+
+static void handleEvent (XEvent &event, dsFunctions *fn)
+{
+ static int mx=0,my=0; // mouse position
+ static int mode = 0; // mouse button bits
+
+ switch (event.type) {
+
+ case ButtonPress: {
+ if (event.xbutton.button == Button1) mode |= 1;
+ if (event.xbutton.button == Button2) mode |= 2;
+ if (event.xbutton.button == Button3) mode |= 4;
+ mx = event.xbutton.x;
+ my = event.xbutton.y;
+ }
+ return;
+
+ case ButtonRelease: {
+ if (event.xbutton.button == Button1) mode &= (~1);
+ if (event.xbutton.button == Button2) mode &= (~2);
+ if (event.xbutton.button == Button3) mode &= (~4);
+ mx = event.xbutton.x;
+ my = event.xbutton.x;
+ }
+ return;
+
+ case MotionNotify: {
+ if (event.xmotion.is_hint) {
+ Window root,child;
+ unsigned int mask;
+ XQueryPointer (display,win,&root,&child,&event.xbutton.x_root,
+ &event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y,
+ &mask);
+ }
+ dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my);
+ mx = event.xmotion.x;
+ my = event.xmotion.y;
+ }
+ return;
+
+ case KeyPress: {
+ KeySym key;
+ XLookupString (&event.xkey,NULL,0,&key,0);
+ if ((event.xkey.state & ControlMask) == 0) {
+ if (key >= ' ' && key <= 126 && fn->command) fn->command (key);
+ }
+ else if (event.xkey.state & ControlMask) {
+ switch (key) {
+ case 't': case 'T':
+ dsSetTextures (dsGetTextures() ^ 1);
+ break;
+ case 's': case 'S':
+ dsSetShadows (dsGetShadows() ^ 1);
+ break;
+ case 'x': case 'X':
+ run = 0;
+ break;
+ case 'p': case 'P':
+ pausemode ^= 1;
+ singlestep = 0;
+ break;
+ case 'o': case 'O':
+ if (pausemode) singlestep = 1;
+ break;
+ case 'v': case 'V': {
+ float xyz[3],hpr[3];
+ dsGetViewpoint (xyz,hpr);
+ printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n",
+ xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]);
+ break;
+ }
+ case 'w': case 'W':
+ writeframes ^= 1;
+ if (writeframes) printf ("Now writing frames to PPM files\n");
+ break;
+ }
+ }
+ last_key_pressed = key; // a kludgy place to put this...
+ }
+ return;
+
+ case KeyRelease: {
+ // hmmmm...
+ }
+ return;
+
+ case ClientMessage:
+ if (event.xclient.message_type == wm_protocols_atom &&
+ event.xclient.format == 32 &&
+ Atom(event.xclient.data.l[0]) == wm_delete_window_atom) {
+ run = 0;
+ return;
+ }
+ return;
+
+ case ConfigureNotify:
+ width = event.xconfigure.width;
+ height = event.xconfigure.height;
+ return;
+ }
+}
+
+
+// return the index of the highest bit
+static int getHighBitIndex (unsigned int x)
+{
+ int i = 0;
+ while (x) {
+ i++;
+ x >>= 1;
+ }
+ return i-1;
+}
+
+
+// shift x left by i, where i can be positive or negative
+#define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i)))
+
+
+static void captureFrame (int num)
+{
+ fprintf (stderr,"capturing frame %04d\n",num);
+
+ char s[100];
+ sprintf (s,"frame/frame%04d.ppm",num);
+ FILE *f = fopen (s,"wb");
+ if (!f) dsError ("can't open \"%s\" for writing",s);
+ fprintf (f,"P6\n%d %d\n255\n",width,height);
+ XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap);
+
+ int rshift = 7 - getHighBitIndex (image->red_mask);
+ int gshift = 7 - getHighBitIndex (image->green_mask);
+ int bshift = 7 - getHighBitIndex (image->blue_mask);
+
+ for (int y=0; y<height; y++) {
+ for (int x=0; x<width; x++) {
+ unsigned long pixel = XGetPixel (image,x,y);
+ unsigned char b[3];
+ b[0] = SHIFTL(pixel & image->red_mask,rshift);
+ b[1] = SHIFTL(pixel & image->green_mask,gshift);
+ b[2] = SHIFTL(pixel & image->blue_mask,bshift);
+ fwrite (b,3,1,f);
+ }
+ }
+ fclose (f);
+ XDestroyImage (image);
+}
+
+void processDrawFrame(int *frame, dsFunctions *fn)
+{
+ dsDrawFrame (width,height,fn,pausemode && !singlestep);
+ singlestep = 0;
+
+ glFlush();
+ glXSwapBuffers (display,win);
+ XSync (display,0);
+
+ // capture frames if necessary
+ if (pausemode==0 && writeframes) {
+ captureFrame (*frame);
+ (*frame)++;
+ }
+}
+
+void microsleep(int usecs)
+{
+#ifdef HAVE_UNISTD_H
+ usleep(usecs);
+#endif
+}
+
+void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
+ int initial_pause)
+{
+ pausemode = initial_pause;
+ createMainWindow (window_width, window_height);
+ glXMakeCurrent (display,win,glx_context);
+
+ dsStartGraphics (window_width,window_height,fn);
+
+ static bool firsttime=true;
+ if (firsttime)
+ {
+ fprintf
+ (
+ stderr,
+ "\n"
+ "Simulation test environment v%d.%02d\n"
+ " Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
+ " Ctrl-O : single step when paused.\n"
+ " Ctrl-T : toggle textures (or say `-notex' on command line).\n"
+ " Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
+ " Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
+ " Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
+ " Ctrl-X : exit.\n"
+ "\n"
+ "Change the camera position by clicking + dragging in the window.\n"
+ " Left button - pan and tilt.\n"
+ " Right button - forward and sideways.\n"
+ " Left + Right button (or middle button) - sideways and up.\n"
+ "\n",DS_VERSION >> 8,DS_VERSION & 0xff
+ );
+ firsttime = false;
+ }
+
+ if (fn->start) fn->start();
+
+#if HAVE_GETTIMEOFDAY
+ timeval tv;
+ gettimeofday(&tv, 0);
+ double prev = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+#endif
+
+ int frame = 1;
+ run = 1;
+ while (run) {
+ // read in and process all pending events for the main window
+ XEvent event;
+ while (run && XPending (display)) {
+ XNextEvent (display,&event);
+ handleEvent (event,fn);
+ }
+
+#if HAVE_GETTIMEOFDAY
+ gettimeofday(&tv, 0);
+ double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+ if (curr-prev >= 1.0/60.0)
+ {
+ prev = curr;
+ processDrawFrame(&frame, fn);
+ }
+ else
+ microsleep(1000);
+#else
+ processDrawFrame(&frame, fn);
+#endif
+ };
+
+ if (fn->stop) fn->stop();
+ dsStopGraphics();
+
+ destroyMainWindow();
+}
+
+
+extern "C" void dsStop()
+{
+ run = 0;
+}
+
+
+extern "C" double dsElapsedTime()
+{
+#if HAVE_GETTIMEOFDAY
+ static double prev=0.0;
+ timeval tv ;
+
+ gettimeofday(&tv, 0);
+ double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ;
+ if (!prev)
+ prev=curr;
+ double retval = curr-prev;
+ prev=curr;
+ if (retval>1.0) retval=1.0;
+ if (retval<dEpsilon) retval=dEpsilon;
+ return retval;
+#else
+ return 0.01666; // Assume 60 fps
+#endif
+}
+
+
+
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