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diff --git a/libs/ode-0.16.1/ode/demo/demo_space.cpp b/libs/ode-0.16.1/ode/demo/demo_space.cpp
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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
+
+/*
+
+testing procedure:
+ * create a bunch of random boxes
+ * test for intersections directly, put results in n^2 array
+ * get space to report collisions:
+ - all correct collisions reported
+ - no pair reported more than once
+ - no incorrect collisions reported
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 20 // number of boxes to test
+
+
+// collision objects and globals
+
+static dSpaceID space;
+static dGeomID geom[NUM];
+static dReal bounds[NUM][6];
+static dsizeint good_matrix[NUM][NUM]; // correct collision matrix
+static dsizeint test_matrix[NUM][NUM]; // testing collision matrix
+static dsizeint hits[NUM]; // number of collisions a box has
+static unsigned long seed=37;
+
+
+static void init_test()
+{
+ int i,j;
+ const dReal scale = 0.5;
+
+ // set random boxes
+ dRandSetSeed (seed);
+ for (i=0; i < NUM; i++) {
+ bounds[i][0] = dRandReal()*2-1;
+ bounds[i][1] = bounds[i][0] + dRandReal()*scale;
+ bounds[i][2] = dRandReal()*2-1;
+ bounds[i][3] = bounds[i][2] + dRandReal()*scale;
+ bounds[i][4] = dRandReal()*2;
+ bounds[i][5] = bounds[i][4] + dRandReal()*scale;
+
+ if (geom[i]) dGeomDestroy (geom[i]);
+ geom[i] = dCreateBox (space,
+ bounds[i][1] - bounds[i][0],
+ bounds[i][3] - bounds[i][2],
+ bounds[i][5] - bounds[i][4]);
+ dGeomSetPosition (geom[i],
+ (bounds[i][0] + bounds[i][1])*0.5,
+ (bounds[i][2] + bounds[i][3])*0.5,
+ (bounds[i][4] + bounds[i][5])*0.5);
+ dGeomSetData (geom[i],(void*)(dsizeint)(i));
+ }
+
+ // compute all intersections and put the results in "good_matrix"
+ for (i=0; i < NUM; i++) {
+ for (j=0; j < NUM; j++) good_matrix[i][j] = 0;
+ }
+ for (i=0; i < NUM; i++) hits[i] = 0;
+
+ for (i=0; i < NUM; i++) {
+ for (j=i+1; j < NUM; j++) {
+ dReal *bounds1 = &bounds[i][0];
+ dReal *bounds2 = &bounds[j][0];
+ if (bounds1[0] > bounds2[1] ||
+ bounds1[1] < bounds2[0] ||
+ bounds1[2] > bounds2[3] ||
+ bounds1[3] < bounds2[2] ||
+ bounds1[4] > bounds2[5] ||
+ bounds1[5] < bounds2[4]) continue;
+ good_matrix[i][j] = 1;
+ good_matrix[j][i] = 1;
+ hits[i]++;
+ hits[j]++;
+ }
+ }
+}
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+ dsizeint i,j;
+ i = (dsizeint) dGeomGetData (o1);
+ j = (dsizeint) dGeomGetData (o2);
+ if (i==j)
+ printf ("collision (%d,%d) is between the same object\n",(int)i,(int)j);
+ if (!good_matrix[i][j] || !good_matrix[j][i])
+ printf ("collision (%d,%d) is incorrect\n",(int)i,(int)j);
+ if (test_matrix[i][j] || test_matrix[j][i])
+ printf ("collision (%d,%d) reported more than once\n",(int)i,(int)j);
+ test_matrix[i][j] = 1;
+ test_matrix[j][i] = 1;
+}
+
+
+// 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);
+}
+
+
+static void command (int cmd)
+{
+ if (cmd == ' ') {
+ seed++;
+ init_test();
+ }
+}
+
+
+// simulation loop
+
+static void simLoop (int)
+{
+ int i,j;
+
+ for (i=0; i < NUM; i++) {
+ for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
+ }
+ dSpaceCollide (space,0,&nearCallback);
+ for (i=0; i < NUM; i++) {
+ for (j=i+1; j < NUM; j++) {
+ if (good_matrix[i][j] && !test_matrix[i][j]) {
+ printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
+ }
+ }
+ }
+
+ seed++;
+ init_test();
+
+ for (i=0; i<NUM; i++) {
+ dVector3 pos,side;
+ dMatrix3 R;
+ dRSetIdentity (R);
+ for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
+ for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
+ if (hits[i] > 0) dsSetColor (1,0,0);
+ else dsSetColor (1,1,0);
+ dsDrawBox (pos,R,side);
+ }
+}
+
+
+int main (int argc, char **argv)
+{
+ int i;
+
+ // 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;
+
+ dInitODE2(0);
+
+ // test the simple space:
+ // space = dSimpleSpaceCreate();
+
+ // test the hash space:
+ // space = dHashSpaceCreate (0);
+ // dHashSpaceSetLevels (space,-10,10);
+
+ // test the quadtree space
+ dVector3 Center = {0, 0, 0, 0};
+ dVector3 Extents = {10, 0, 10, 0};
+ space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
+
+ for (i=0; i < NUM; i++) geom[i] = 0;
+ init_test();
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dSpaceDestroy (space);
+ dCloseODE();
+ return 0;
+}
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