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diff --git a/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
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+++ b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
@@ -0,0 +1,449 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#include <string>
+
+#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 10000 // max number of objects
+#define DENSITY (5.0) // density of all objects
+#define GPB 3 // maximum number of geometries per body
+#define MAX_CONTACTS 4 // maximum number of contact points per body
+#define WORLD_SIZE 20
+#define WORLD_HEIGHT 20
+
+
+// dynamics and collision objects
+
+struct MyObject {
+ dBodyID body; // the body
+ dGeomID geom[GPB]; // geometries representing this body
+};
+
+static int num=0; // number of objects in simulation
+static int nextobj=0; // next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space = NULL;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1; // selected object
+static int show_aabb = 0; // show geom AABBs?
+static int show_contacts = 0; // show contact points?
+static int random_pos = 1; // drop objects from random position?
+static int draw_geom = 1;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+ int i;
+ // if (o1->body && o2->body) return;
+
+ // exit without doing anything if the two bodies are connected by a joint
+ dBodyID b1 = dGeomGetBody(o1);
+ dBodyID b2 = dGeomGetBody(o2);
+ if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+ dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
+ for (i=0; i<MAX_CONTACTS; i++) {
+ contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+ contact[i].surface.mu = dInfinity;
+ contact[i].surface.mu2 = 0;
+ contact[i].surface.bounce = 0.1;
+ contact[i].surface.bounce_vel = 0.1;
+ contact[i].surface.soft_cfm = 0.01;
+ }
+ if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+ sizeof(dContact))) {
+ dMatrix3 RI;
+ dRSetIdentity (RI);
+ const dReal ss[3] = {0.02,0.02,0.02};
+ for (i=0; i<numc; i++) {
+ dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+ dJointAttach (c,b1,b2);
+ if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+ }
+ }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+ dAllocateODEDataForThread(dAllocateMaskAll);
+
+ static float xyz[3] = {2.1640f,-1.3079f,3.7600f};
+ static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+ dsSetViewpoint (xyz,hpr);
+ printf ("To drop another object, press:\n");
+ printf (" o to disable rendering.\n");
+ printf (" b for box.\n");
+ printf (" s for sphere.\n");
+ printf (" c for cylinder.\n");
+ printf (" x for a composite object.\n");
+ printf (" y for cylinder.\n");
+ printf ("To select an object, press space.\n");
+ printf ("To disable the selected object, press d.\n");
+ printf ("To enable the selected object, press e.\n");
+ printf ("To toggle showing the geom AABBs, press a.\n");
+ printf ("To toggle showing the contact points, press t.\n");
+ printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase(char c)
+{
+ if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+ else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+ int i,j,k;
+ dReal sides[3];
+ dMass m;
+ bool setBody = false;
+
+ cmd = locase(cmd);
+ if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y') {
+ if (num < NUM) {
+ // new object to be created
+ i = num;
+ num++;
+ } else {
+ // recycle existing object
+ i = nextobj++;
+ nextobj %= num; // wrap-around if needed
+
+ // destroy the body and geoms for slot i
+ dBodyDestroy (obj[i].body);
+ obj[i].body = 0;
+
+ for (k=0; k < GPB; k++)
+ if (obj[i].geom[k]) {
+ dGeomDestroy(obj[i].geom[k]);
+ obj[i].geom[k] = 0;
+ }
+ }
+
+ obj[i].body = dBodyCreate(world);
+
+ for (k=0; k<3; k++)
+ sides[k] = dRandReal()*0.5+0.1;
+
+ dMatrix3 R;
+ if (random_pos) {
+ dBodySetPosition(obj[i].body,
+ dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
+ dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+ dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+ } else {
+ // higher than highest body position
+ dReal maxheight = 0;
+ for (k=0; k<num; k++) {
+ const dReal *pos = dBodyGetPosition(obj[k].body);
+ if (pos[2] > maxheight)
+ maxheight = pos[2];
+ }
+ dBodySetPosition(obj[i].body, 0,0,maxheight+1);
+ dRSetIdentity(R);
+ //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
+ }
+
+ dBodySetRotation(obj[i].body,R);
+
+ if (cmd == 'b') {
+
+ dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+ obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+ } else if (cmd == 'c') {
+
+ sides[0] *= 0.5;
+ dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+
+ } else if (cmd == 'y') {
+
+ dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+ obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+ } else if (cmd == 's') {
+
+ sides[0] *= 0.5;
+ dMassSetSphere (&m,DENSITY,sides[0]);
+ obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+ } else if (cmd == 'x') {
+
+ setBody = true;
+ // start accumulating masses for the composite geometries
+ dMass m2;
+ dMassSetZero (&m);
+
+ dReal dpos[GPB][3]; // delta-positions for composite geometries
+ dMatrix3 drot[GPB];
+
+ // set random delta positions
+ for (j=0; j<GPB; j++)
+ for (k=0; k<3; k++)
+ dpos[j][k] = dRandReal()*0.3-0.15;
+
+ for (k=0; k<GPB; k++) {
+ if (k==0) {
+ dReal radius = dRandReal()*0.25+0.05;
+ obj[i].geom[k] = dCreateSphere (space,radius);
+ dMassSetSphere (&m2,DENSITY,radius);
+ } else if (k==1) {
+ obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+ dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+ } else {
+ dReal radius = dRandReal()*0.1+0.05;
+ dReal length = dRandReal()*1.0+0.1;
+ obj[i].geom[k] = dCreateCapsule(space,radius,length);
+ dMassSetCapsule(&m2,DENSITY,3,radius,length);
+ }
+
+ dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+ dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+ dMassRotate(&m2,drot[k]);
+
+ dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+ // add to the total mass
+ dMassAdd(&m,&m2);
+
+ }
+ for (k=0; k<GPB; k++) {
+ dGeomSetBody(obj[i].geom[k],obj[i].body);
+ dGeomSetOffsetPosition(obj[i].geom[k],
+ dpos[k][0]-m.c[0],
+ dpos[k][1]-m.c[1],
+ dpos[k][2]-m.c[2]);
+ dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+ }
+ dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+ dBodySetMass(obj[i].body,&m);
+
+ }
+
+ if (!setBody) { // avoid calling for composite geometries
+ for (k=0; k < GPB; k++)
+ if (obj[i].geom[k])
+ dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+ dBodySetMass(obj[i].body,&m);
+ }
+ }
+
+
+ if (cmd == ' ') {
+ selected++;
+ if (selected >= num) selected = 0;
+ if (selected < 0) selected = 0;
+ }
+ else if (cmd == 'd' && selected >= 0 && selected < num) {
+ dBodyDisable (obj[selected].body);
+ }
+ else if (cmd == 'e' && selected >= 0 && selected < num) {
+ dBodyEnable (obj[selected].body);
+ }
+ else if (cmd == 'a') {
+ show_aabb ^= 1;
+ }
+ else if (cmd == 't') {
+ show_contacts ^= 1;
+ }
+ else if (cmd == 'r') {
+ random_pos ^= 1;
+ }
+ else if (cmd == 'o') {
+ draw_geom ^= 1;
+ }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+ if (!draw_geom){
+ return;
+ }
+
+ if (!g) return;
+ if (!pos) pos = dGeomGetPosition(g);
+ if (!R) R = dGeomGetRotation(g);
+
+ int type = dGeomGetClass (g);
+ if (type == dBoxClass) {
+ dVector3 sides;
+ dGeomBoxGetLengths(g,sides);
+ dsDrawBox(pos,R,sides);
+ }
+ else if (type == dSphereClass) {
+ dsDrawSphere(pos,R,dGeomSphereGetRadius (g));
+ }
+ else if (type == dCapsuleClass) {
+ dReal radius,length;
+ dGeomCapsuleGetParams(g,&radius,&length);
+ dsDrawCapsule (pos,R,length,radius);
+ } else if (type == dCylinderClass) {
+ dReal radius,length;
+ dGeomCylinderGetParams(g,&radius,&length);
+ dsDrawCylinder(pos,R,length,radius);
+ }
+
+ if (show_aabb) {
+ // draw the bounding box for this geom
+ dReal aabb[6];
+ dGeomGetAABB(g,aabb);
+ dVector3 bbpos;
+ for (int i=0; i<3; i++)
+ bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+ dVector3 bbsides;
+ for (int j=0; j<3; j++)
+ bbsides[j] = aabb[j*2+1] - aabb[j*2];
+ dMatrix3 RI;
+ dRSetIdentity(RI);
+ dsSetColorAlpha(1,0,0,0.5);
+ dsDrawBox(bbpos,RI,bbsides);
+ }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+ dsSetColor (0,0,2);
+ dSpaceCollide (space,0,&nearCallback);
+ //if (!pause) dWorldStep (world,0.05);
+ if (!pause) dWorldQuickStep (world,0.05);
+ //if (!pause) dWorldStepFast (world,0.05, 1);
+
+ // remove all contact joints
+ dJointGroupEmpty (contactgroup);
+
+ dsSetColor (1,1,0);
+ dsSetTexture (DS_WOOD);
+ for (int i=0; i<num; i++) {
+ for (int j=0; j < GPB; j++) {
+ if (i==selected) {
+ dsSetColor (0,0.7,1);
+ }
+ else if (! dBodyIsEnabled (obj[i].body)) {
+ dsSetColor (1,0,0);
+ }
+ else {
+ dsSetColor (1,1,0);
+ }
+ drawGeom (obj[i].geom[j],0,0,show_aabb);
+ }
+ }
+}
+
+
+int main (int argc, char **argv)
+{
+ // 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;
+
+ dsSetSphereQuality(0);
+
+ // create world
+ dInitODE2(0);
+ world = dWorldCreate();
+
+ for (int i=1; i<argc; ++i) {
+ if (argv[i] == std::string("quad")) {
+ dVector3 Center = {0, 0, 0, 0};
+ dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
+ puts(":::: Using dQuadTreeSpace");
+ space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
+ } else if (argv[i] == std::string("hash")) {
+ puts(":::: Using dHashSpace");
+ space = dHashSpaceCreate (0);
+ } else if (argv[i] == std::string("sap")) {
+ puts(":::: Using dSweepAndPruneSpace");
+ space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+ } else if (argv[i] == std::string("simple")) {
+ puts(":::: Using dSimpleSpace");
+ space = dSimpleSpaceCreate(0);
+ }
+ }
+ if (!space) {
+ puts(":::: You can specify 'quad', 'hash', 'sap' or 'simple' in the");
+ puts(":::: command line to specify the type of space.");
+ puts(":::: Using SAP space by default.");
+ space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+ }
+
+ contactgroup = dJointGroupCreate (0);
+ dWorldSetGravity (world,0,0,-0.5);
+ dWorldSetCFM (world,1e-5);
+ dCreatePlane (space,0,0,1,0);
+ memset (obj,0,sizeof(obj));
+
+ for (int i = 0; i < NUM; i++){
+ command('s');
+ }
+
+ // run simulation
+ dsSimulationLoop (argc,argv,352,288,&fn);
+
+ dJointGroupDestroy (contactgroup);
+ dSpaceDestroy (space);
+ dWorldDestroy (world);
+ dCloseODE();
+ return 0;
+}
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