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diff --git a/libs/ode-0.16.1/ode/demo/demo_cyl.cpp b/libs/ode-0.16.1/ode/demo/demo_cyl.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. *
+ * *
+ *************************************************************************/
+
+// Test for non-capped cylinder, by Bram Stolk
+#include <ode/odeconfig.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#include "world_geom3.h" // this is our world mesh
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
+#endif
+
+
+#define BOX
+#define CYL
+
+// some constants
+
+#define RADIUS 0.22 // wheel radius
+#define WMASS 0.2 // wheel mass
+#define WHEELW 0.2 // wheel width
+#define BOXSZ 0.4 // box size
+//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+#ifdef BOX
+static dBodyID boxbody;
+static dGeomID boxgeom;
+#endif
+#ifdef CYL
+static dBodyID cylbody;
+static dGeomID cylgeom;
+#endif
+static dJointGroupID contactgroup;
+static dGeomID world_mesh;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+ assert(o1);
+ assert(o2);
+
+ if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+ {
+ fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
+ // colliding a space with something
+ dSpaceCollide2(o1,o2,data,&nearCallback);
+ // Note we do not want to test intersections within a space,
+ // only between spaces.
+ return;
+ }
+
+// fprintf(stderr,"testing geoms %p %p\n", o1, o2);
+
+ const int N = 32;
+ dContact contact[N];
+ int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+ if (n > 0)
+ {
+ for (int i=0; i<n; i++)
+ {
+ contact[i].surface.slip1 = 0.7;
+ contact[i].surface.slip2 = 0.7;
+ contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+ contact[i].surface.mu = 50.0; // was: dInfinity
+ contact[i].surface.soft_erp = 0.96;
+ contact[i].surface.soft_cfm = 0.04;
+ dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+ dJointAttach (c,
+ dGeomGetBody(contact[i].geom.g1),
+ dGeomGetBody(contact[i].geom.g2));
+ }
+ }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+ dAllocateODEDataForThread(dAllocateMaskAll);
+
+ static float xyz[3] = {-8,-9,3};
+ static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
+ dsSetViewpoint (xyz,hpr);
+}
+
+
+
+static void reset_state(void)
+{
+ float sx=-4, sy=-4, sz=2;
+ dQuaternion q;
+ dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+#ifdef BOX
+ dBodySetPosition (boxbody, sx, sy+1, sz);
+ dBodySetLinearVel (boxbody, 0,0,0);
+ dBodySetAngularVel (boxbody, 0,0,0);
+ dBodySetQuaternion (boxbody, q);
+#endif
+#ifdef CYL
+ dBodySetPosition (cylbody, sx, sy, sz);
+ dBodySetLinearVel (cylbody, 0,0,0);
+ dBodySetAngularVel (cylbody, 0,0,0);
+ dBodySetQuaternion (cylbody, q);
+#endif
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+ switch (cmd)
+ {
+ case ' ':
+ reset_state();
+ break;
+ }
+}
+
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+ double simstep = 0.005; // 5ms simulation steps
+ double dt = dsElapsedTime();
+ int nrofsteps = (int) ceilf(dt/simstep);
+ for (int i=0; i<nrofsteps && !pause; i++)
+ {
+ dSpaceCollide (space,0,&nearCallback);
+ dWorldQuickStep (world, simstep);
+ dJointGroupEmpty (contactgroup);
+ }
+
+ dsSetColor (1,1,1);
+#ifdef BOX
+ const dReal *BPos = dBodyGetPosition(boxbody);
+ const dReal *BRot = dBodyGetRotation(boxbody);
+ float bpos[3] = {BPos[0], BPos[1], BPos[2]};
+ float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
+ float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
+ dsDrawBox
+ (
+ bpos,
+ brot,
+ sides
+ ); // single precision
+#endif
+#ifdef CYL
+ const dReal *CPos = dGeomGetPosition(cylgeom);
+ const dReal *CRot = dGeomGetRotation(cylgeom);
+ float cpos[3] = {CPos[0], CPos[1], CPos[2]};
+ float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
+ dsDrawCylinder
+ (
+// dBodyGetPosition(cylbody),
+// dBodyGetRotation(cylbody),
+ cpos,
+ crot,
+ WHEELW,
+ RADIUS
+ ); // single precision
+#endif
+
+ // draw world trimesh
+ dsSetColor(0.7,0.7,0.4);
+ dsSetTexture (DS_NONE);
+
+ const dReal* Pos = dGeomGetPosition(world_mesh);
+ float pos[3] = { Pos[0], Pos[1], Pos[2] };
+
+ const dReal* Rot = dGeomGetRotation(world_mesh);
+ float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
+
+ int numi = sizeof(world_indices) / sizeof(dTriIndex);
+
+ for (int i=0; i<numi/3; i++)
+ {
+ int i0 = world_indices[i*3+0];
+ int i1 = world_indices[i*3+1];
+ int i2 = world_indices[i*3+2];
+ float *v0 = world_vertices+i0*3;
+ float *v1 = world_vertices+i1*3;
+ float *v2 = world_vertices+i2*3;
+ dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
+ }
+}
+
+
+int main (int argc, char **argv)
+{
+ dMass m;
+ dMatrix3 R;
+
+ // 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,-9.8);
+ dWorldSetQuickStepNumIterations (world, 12);
+
+
+ // Create a static world using a triangle mesh that we can collide with.
+ int numv = sizeof(world_vertices)/(3*sizeof(float));
+ int numi = sizeof(world_indices)/ sizeof(dTriIndex);
+ printf("numv=%d, numi=%d\n", numv, numi);
+ dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+ dGeomTriMeshDataBuildSingle
+ (
+ Data,
+ world_vertices,
+ 3 * sizeof(float),
+ numv,
+ world_indices,
+ numi,
+ 3 * sizeof(dTriIndex)
+ );
+
+ world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
+ dGeomSetPosition(world_mesh, 0, 0, 0.5);
+ dRFromAxisAndAngle (R, 0,1,0, 0.0);
+ dGeomSetRotation (world_mesh, R);
+
+
+#ifdef BOX
+ boxbody = dBodyCreate (world);
+ dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
+ dMassAdjust (&m, 1);
+ dBodySetMass (boxbody,&m);
+ boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
+ dGeomSetBody (boxgeom,boxbody);
+ dSpaceAdd (space, boxgeom);
+#endif
+#ifdef CYL
+ cylbody = dBodyCreate (world);
+ dMassSetSphere (&m,1,RADIUS);
+ dMassAdjust (&m,WMASS);
+ dBodySetMass (cylbody,&m);
+ cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
+ dGeomSetBody (cylgeom,cylbody);
+
+ #if defined(CYL_GEOM_OFFSET)
+ dMatrix3 mat;
+ dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
+ dGeomSetOffsetRotation(cylgeom,mat);
+ #endif
+
+ dSpaceAdd (space, cylgeom);
+#endif
+ reset_state();
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dJointGroupEmpty (contactgroup);
+ dJointGroupDestroy (contactgroup);
+
+ // First destroy geoms, then space, then the world.
+#ifdef CYL
+ dGeomDestroy (cylgeom);
+#endif
+#ifdef BOX
+ dGeomDestroy (boxgeom);
+#endif
+ dGeomDestroy (world_mesh);
+
+ dSpaceDestroy (space);
+ dWorldDestroy (world);
+ dCloseODE();
+ return 0;
+ (void)world_normals; // get rid of compiler warnings
+}
+
+
+
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