first commit

thirdparty/ode-0.16.5/drawstuff/Makefile.am

@@ -0,0 +1,4 @@
+if ENABLE_DRAWSTUFF
+SUBDIRS = src dstest
+EXTRA_DIST = textures
+endif

thirdparty/ode-0.16.5/drawstuff/Makefile.in

@@ -0,0 +1,641 @@
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thirdparty/ode-0.16.5/drawstuff/dstest/dstest.cpp

@@ -0,0 +1,125 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <stdio.h>
+#include <math.h>
+#include <drawstuff/drawstuff.h>
+
+
+#ifndef M_PI
+#define M_PI (3.14159265358979323846)
+#endif
+
+
+void start()
+{
+  // adjust the starting viewpoint a bit
+  float xyz[3],hpr[3];
+  dsGetViewpoint (xyz,hpr);
+  hpr[0] += 7;
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+void simLoop (int pause)
+{
+  float pos[3];
+  float R[12];
+  static float a = 0;
+
+  if (!pause) a += 0.02f;
+  if (a > (2*M_PI)) a -= (float) (2*M_PI);
+  float ca = (float) cos(a);
+  float sa = (float) sin(a);
+
+  dsSetTexture (DS_WOOD);
+
+  float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
+  pos[0] = -0.3f;
+  pos[1] = 0;
+  pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
+  R[0] = ca; R[1] = 0; R[2] = -sa;
+  R[4] = 0;  R[5] = 1; R[6] = 0;
+  R[8] = sa; R[9] = 0; R[10] = ca;
+  dsSetColor (1,0.8f,0.6f);
+  dsDrawSphere (pos,R,0.3f);
+
+  dsSetTexture (DS_NONE);
+
+  pos[0] = -0.2f;
+  pos[1] = 0.8f;
+  pos[2] = 0.4f;
+  R[0] = ca; R[1] = -sa; R[2] = 0;
+  R[4] = sa; R[5] = ca;  R[6] = 0;
+  R[8] = 0;  R[9] = 0;	 R[10] = 1;
+  float sides[3] = {0.1f,0.4f,0.8f};
+  dsSetColor (0.6f,0.6f,1);
+  dsDrawBox (pos,R,sides);
+
+  dsSetTexture (DS_WOOD);
+
+  float r = 0.3f;		      // cylinder radius
+  float d = (float)cos(a*2) * 0.4f;
+  float cd = (float)cos(-d/r);
+  float sd = (float)sin(-d/r);
+  pos[0] = -0.2f;
+  pos[1] = -1 + d;
+  pos[2] = 0.3f;
+  R[0] = 0;   R[1] = 0;  R[2] = -1;
+  R[4] = -sd; R[5] = cd; R[6] =  0;
+  R[8] =  cd; R[9] = sd; R[10] = 0;
+  dsSetColor (0.4f,1,1);
+  dsDrawCylinder (pos,R,0.8f,r);
+
+  pos[0] = 0;
+  pos[1] = 0;
+  pos[2] = 0.2f;
+  R[0] = 0; R[1] = sa; R[2] = -ca;
+  R[4] = 0; R[5] = ca; R[6] = sa;
+  R[8] = 1; R[9] = 0;  R[10] = 0;
+  dsSetColor (1,0.9f,0.2f);
+  dsDrawCappedCylinder (pos,R,0.8f,0.2f);
+}
+
+
+void command (int cmd)
+{
+  dsPrint ("received command %d (`%c')\n",cmd,cmd);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = command;
+  fn.stop = 0;
+  fn.path_to_textures = 0;	// uses default
+
+  // run simulation
+  dsSimulationLoop (argc,argv,400,400,&fn);
+
+  return 0;
+}

thirdparty/ode-0.16.5/drawstuff/src/Makefile.am

@@ -0,0 +1,26 @@
+# Drawstuff is meant as an aid for testing and not as a full
+# rendering library.
+
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+libdrawstuff_la_SOURCES = drawstuff.cpp internal.h
+AM_CPPFLAGS = -I$(top_srcdir)/include \
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+        -I$(top_srcdir)/ode/src \
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+        $(X11_CFLAGS)
+
+if WIN32
+libdrawstuff_la_SOURCES+= windows.cpp resource.h resources.rc
+libdrawstuff_la_LIBADD = -lwinmm -lgdi32
+libdrawstuff_la_LDFLAGS = -no-undefined
+endif
+
+if X11
+libdrawstuff_la_SOURCES+= x11.cpp
+libdrawstuff_la_LIBADD = $(X11_LIBS)
+endif
+
+if OSX
+libdrawstuff_la_SOURCES+= osx.cpp
+endif
+

thirdparty/ode-0.16.5/drawstuff/src/Makefile.in

@@ -0,0 +1,655 @@
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thirdparty/ode-0.16.5/drawstuff/src/internal.h

@@ -0,0 +1,50 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* functions supplied and used by the platform specific code */
+
+#ifndef __DS_INTERNAL_H
+#define __DS_INTERNAL_H
+
+#include "drawstuff/drawstuff.h"
+
+
+// supplied by platform specific code
+
+void dsPlatformSimLoop (int window_width, int window_height,
+			dsFunctions *fn, int initial_pause);
+
+
+// used by platform specific code
+
+void dsStartGraphics (int width, int height, dsFunctions *fn);
+void dsDrawFrame (int width, int height, dsFunctions *fn, int pause);
+void dsStopGraphics();
+void dsMotion (int mode, int deltax, int deltay);
+
+int dsGetShadows();
+void dsSetShadows (int a);
+
+int dsGetTextures();
+void dsSetTextures (int a);
+
+#endif

thirdparty/ode-0.16.5/drawstuff/src/osx.cpp

@@ -0,0 +1,347 @@
+/*************************************************************************
+ *                                                                       *
+ * 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();
+}

thirdparty/ode-0.16.5/drawstuff/src/resource.h

@@ -0,0 +1,28 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Developer Studio generated include file.
+// Used by resources.rc
+//
+#define IDD_MSGDLG                      101
+#define IDR_MENU1                       102
+#define IDD_ABOUT                       103
+#define IDR_ACCELERATOR1                104
+#define IDC_LIST1                       1000
+#define IDM_EXIT                        40001
+#define IDM_ABOUT                       40002
+#define IDM_PAUSE                       40003
+#define IDM_PERF_MONITOR                40004
+#define IDM_SHADOWS                     40005
+#define IDM_TEXTURES                    40006
+#define IDM_SAVE_SETTINGS               40007
+#define IDM_SINGLE_STEP                 40008
+
+// Next default values for new objects
+// 
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+#define _APS_NEXT_RESOURCE_VALUE        108
+#define _APS_NEXT_COMMAND_VALUE         40009
+#define _APS_NEXT_CONTROL_VALUE         1001
+#define _APS_NEXT_SYMED_VALUE           101
+#endif
+#endif

thirdparty/ode-0.16.5/drawstuff/src/resources.rc

@@ -0,0 +1,153 @@
+//Microsoft Developer Studio generated resource script.
+//
+#include "resource.h"
+
+#define APSTUDIO_READONLY_SYMBOLS
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 2 resource.
+//
+//#include "afxres.h"
+
+// added by RLS to make this work with windres
+#include "winresrc.h"
+#define IDC_STATIC (-1)
+
+/////////////////////////////////////////////////////////////////////////////
+#undef APSTUDIO_READONLY_SYMBOLS
+
+/////////////////////////////////////////////////////////////////////////////
+// English (U.S.) resources
+
+#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
+#ifdef _WIN32
+LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
+#pragma code_page(1252)
+#endif //_WIN32
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Dialog
+//
+
+IDD_ABOUT DIALOG DISCARDABLE  0, 0, 257, 105
+STYLE DS_MODALFRAME | WS_POPUP | WS_VISIBLE | WS_CAPTION | WS_SYSMENU
+CAPTION "About"
+FONT 8, "MS Sans Serif"
+BEGIN
+    DEFPUSHBUTTON   "OK",IDOK,200,84,50,14
+    LTEXT           "Simulation test environment",IDC_STATIC,7,7,243,8
+    LTEXT           "Change the camera position by clicking + dragging in the main window.",
+                    IDC_STATIC,7,24,243,8
+    LTEXT           "Left button - pan and tilt.",IDC_STATIC,25,37,225,8
+    LTEXT           "Right button - forward and sideways.",IDC_STATIC,25,48,
+                    225,8
+    LTEXT           "Left + Right button (or middle button) - sideways and up.",
+                    IDC_STATIC,25,59,225,8
+END
+
+
+#ifdef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// TEXTINCLUDE
+//
+
+1 TEXTINCLUDE DISCARDABLE
+BEGIN
+    "resource.h\0"
+END
+
+2 TEXTINCLUDE DISCARDABLE
+BEGIN
+    //"#include ""afxres.h""\r\n"
+    "\0"
+END
+
+3 TEXTINCLUDE DISCARDABLE
+BEGIN
+    "\r\n"
+    "\0"
+END
+
+#endif    // APSTUDIO_INVOKED
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Menu
+//
+
+IDR_MENU1 MENU DISCARDABLE
+BEGIN
+    POPUP "&File"
+    BEGIN
+        MENUITEM "&Exit\tCtrl+X",               IDM_EXIT
+    END
+    POPUP "&Simulation"
+    BEGIN
+        MENUITEM "&Pause\tCtrl+P",              IDM_PAUSE
+        MENUITEM "Single Step\tCtrl+O",         IDM_SINGLE_STEP
+        MENUITEM "Performance &Monitor",        IDM_PERF_MONITOR, GRAYED
+        MENUITEM SEPARATOR
+        MENUITEM "&Shadows\tCtrl+S",            IDM_SHADOWS, CHECKED
+        MENUITEM "&Textures\tCtrl+T",           IDM_TEXTURES, CHECKED
+        MENUITEM SEPARATOR
+        MENUITEM "S&ave Settings",              IDM_SAVE_SETTINGS, GRAYED
+    END
+    POPUP "&Help"
+    BEGIN
+        MENUITEM "&About",                      IDM_ABOUT
+    END
+END
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// DESIGNINFO
+//
+
+#ifdef APSTUDIO_INVOKED
+GUIDELINES DESIGNINFO DISCARDABLE
+BEGIN
+    IDD_ABOUT, DIALOG
+    BEGIN
+        LEFTMARGIN, 7
+        RIGHTMARGIN, 250
+        VERTGUIDE, 25
+        TOPMARGIN, 7
+        BOTTOMMARGIN, 98
+    END
+END
+#endif    // APSTUDIO_INVOKED
+
+
+/////////////////////////////////////////////////////////////////////////////
+//
+// Accelerator
+//
+
+IDR_ACCELERATOR1 ACCELERATORS DISCARDABLE
+BEGIN
+    "O",            IDM_SINGLE_STEP,        VIRTKEY, CONTROL, NOINVERT
+    "P",            IDM_PAUSE,              VIRTKEY, CONTROL, NOINVERT
+    "S",            IDM_SHADOWS,            VIRTKEY, CONTROL, NOINVERT
+    "T",            IDM_TEXTURES,           VIRTKEY, CONTROL, NOINVERT
+    "X",            IDM_EXIT,               VIRTKEY, CONTROL, NOINVERT
+END
+
+#endif    // English (U.S.) resources
+/////////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef APSTUDIO_INVOKED
+/////////////////////////////////////////////////////////////////////////////
+//
+// Generated from the TEXTINCLUDE 3 resource.
+//
+
+
+/////////////////////////////////////////////////////////////////////////////
+#endif    // not APSTUDIO_INVOKED
+

thirdparty/ode-0.16.5/drawstuff/src/windows.cpp

@@ -0,0 +1,536 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built
+#include <windows.h>
+#endif
+#include <process.h>
+#include <ode/odeconfig.h>
+#include <GL/gl.h>
+
+#include "config.h"
+#include "common.h"
+#include "resource.h"
+#include "internal.h"
+
+//***************************************************************************
+// application globals
+
+static HINSTANCE ghInstance = 0;
+static int gnCmdShow = 0;
+static HACCEL accelerators = 0;
+static HWND main_window = 0;
+
+//***************************************************************************
+// error and message handling
+
+static void errorBox (const char *title, const char *msg, va_list ap)
+{
+  char s[1000];
+  vsprintf (s,msg,ap);
+  MessageBox (0,s,title,MB_OK | MB_APPLMODAL | MB_ICONEXCLAMATION);
+}
+
+
+static void dsWarning (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("Warning",msg,ap);
+  va_end (ap);
+}
+
+
+extern "C" void dsError (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("Error",msg,ap);
+  va_end (ap);
+  exit (1);
+}
+
+
+extern "C" void dsDebug (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  errorBox ("INTERNAL ERROR",msg,ap);
+  va_end (ap);
+  // *((char *)0) = 0;	 ... commit SEGVicide ?
+  abort();
+  exit (1);	  // should never get here, but just in case...
+}
+
+
+extern "C" void dsPrint (const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  vprintf (msg,ap);
+  va_end (ap);
+}
+
+//***************************************************************************
+// rendering thread
+
+// globals used to communicate with rendering thread
+
+static volatile int renderer_run = 1;
+static volatile int renderer_pause = 0;	  // 0=run, 1=pause
+static volatile int renderer_ss = 0;	  // single step command
+static volatile int renderer_width = 1;
+static volatile int renderer_height = 1;
+static dsFunctions *renderer_fn = 0;
+static volatile HDC renderer_dc = 0;
+static volatile int keybuffer[16];	  // fifo ring buffer for keypresses
+static volatile int keybuffer_head = 0;	  // index of next key to put in (modified by GUI)
+static volatile int keybuffer_tail = 0;	  // index of next key to take out (modified by renderer)
+
+
+static void setupRendererGlobals()
+{
+  renderer_run = 1;
+  renderer_pause = 0;
+  renderer_ss = 0;
+  renderer_width = 1;
+  renderer_height = 1;
+  renderer_fn = 0;
+  renderer_dc = 0;
+  keybuffer[16];
+  keybuffer_head = 0;
+  keybuffer_tail = 0;
+}
+
+
+static unsigned CALLBACK renderingThread (LPVOID lpParam)
+{
+  // create openGL context and make it current
+  HGLRC glc = wglCreateContext (renderer_dc);
+  if (glc==NULL) dsError ("could not create OpenGL context");
+  if (wglMakeCurrent (renderer_dc,glc) != TRUE)
+    dsError ("could not make OpenGL context current");
+
+  // test openGL capabilities
+  int maxtsize=0;
+  glGetIntegerv (GL_MAX_TEXTURE_SIZE,&maxtsize);
+  if (maxtsize < 128) dsWarning ("max texture size too small (%dx%d)",
+				 maxtsize,maxtsize);
+
+  dsStartGraphics (renderer_width,renderer_height,renderer_fn);
+  if (renderer_fn->start) renderer_fn->start();
+
+  while (renderer_run) {
+    // need to make local copy of renderer_ss to help prevent races
+    int ss = renderer_ss;
+    dsDrawFrame (renderer_width,renderer_height,renderer_fn,
+		 renderer_pause && !ss);
+    if (ss) renderer_ss = 0;
+
+    // read keys out of ring buffer and feed them to the command function
+    while (keybuffer_head != keybuffer_tail) {
+      if (renderer_fn->command) renderer_fn->command (keybuffer[keybuffer_tail]);
+      keybuffer_tail = (keybuffer_tail+1) & 15;
+    }
+
+    // swap buffers
+    SwapBuffers (renderer_dc);
+  }
+
+  if (renderer_fn->stop) renderer_fn->stop();
+  dsStopGraphics();
+
+  // delete openGL context
+  wglMakeCurrent (NULL,NULL);
+  wglDeleteContext (glc);
+
+  return 123;	    // magic value used to test for thread termination
+}
+
+//***************************************************************************
+// window handling
+
+// callback function for "about" dialog box
+
+static LRESULT CALLBACK AboutDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam,
+				      LPARAM lParam)
+{
+  switch (uMsg) {
+  case WM_INITDIALOG:
+    return TRUE;
+  case WM_COMMAND:
+    switch (wParam) {
+    case IDOK:
+      EndDialog (hDlg, TRUE);
+      return TRUE;
+    }
+    break;
+  }
+  return FALSE;
+}
+
+
+// callback function for the main window
+
+static LRESULT CALLBACK mainWndProc (HWND hWnd, UINT msg, WPARAM wParam,
+				     LPARAM lParam)
+{
+  static int button=0,lastx=0,lasty=0;
+  int ctrl = int(wParam & MK_CONTROL);
+
+  switch (msg) {
+  case WM_LBUTTONDOWN:
+  case WM_MBUTTONDOWN:
+  case WM_RBUTTONDOWN:
+    if (msg==WM_LBUTTONDOWN) button |= 1;
+    else if (msg==WM_MBUTTONDOWN) button |= 2;
+    else button |= 4;
+    lastx = SHORT(LOWORD(lParam));
+    lasty = SHORT(HIWORD(lParam));
+    SetCapture (hWnd);
+    break;
+
+  case WM_LBUTTONUP:
+  case WM_MBUTTONUP:
+  case WM_RBUTTONUP:
+    if (msg==WM_LBUTTONUP) button &= ~1;
+    else if (msg==WM_MBUTTONUP) button &= ~2;
+    else button &= ~4;
+    if (button==0) ReleaseCapture();
+    break;
+
+  case WM_MOUSEMOVE: {
+    int x = SHORT(LOWORD(lParam));
+    int y = SHORT(HIWORD(lParam));
+    if (button) dsMotion (button,x-lastx,y-lasty);
+    lastx = x;
+    lasty = y;
+    break;
+  }
+
+  case WM_CHAR: {
+    if (wParam >= ' ' && wParam <= 126) {
+      int nexth = (keybuffer_head+1) & 15;
+      if (nexth != keybuffer_tail) {
+	keybuffer[keybuffer_head] = int(wParam);
+	keybuffer_head = nexth;
+      }
+    }
+    break;
+  }
+
+  case WM_SIZE:
+    // lParam will contain the size of the *client* area!
+    renderer_width = LOWORD(lParam);
+    renderer_height = HIWORD(lParam);
+    break;
+
+  case WM_COMMAND:
+    switch (wParam & 0xffff) {
+    case IDM_ABOUT:
+      DialogBox (ghInstance,MAKEINTRESOURCE(IDD_ABOUT),hWnd,
+	(DLGPROC) AboutDlgProc);
+      break;
+    case IDM_PAUSE: {
+      renderer_pause ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_PAUSE,
+		     renderer_pause ? MF_CHECKED : MF_UNCHECKED);
+      if (renderer_pause) renderer_ss = 0;
+      break;
+    }
+    case IDM_SINGLE_STEP: {
+		if (renderer_pause)
+			renderer_ss = 1;
+		else
+			SendMessage( hWnd, WM_COMMAND, IDM_PAUSE, 0 );
+      break;
+    }
+    case IDM_PERF_MONITOR: {
+      dsWarning ("Performance monitor not yet implemented.");
+      break;
+    }
+    case IDM_TEXTURES: {
+      static int tex = 1;
+      tex ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_TEXTURES,
+		     tex ? MF_CHECKED : MF_UNCHECKED);
+      dsSetTextures (tex);
+      break;
+    }
+    case IDM_SHADOWS: {
+      static int shadows = 1;
+      shadows ^= 1;
+      CheckMenuItem (GetMenu(hWnd),IDM_SHADOWS,
+		     shadows ? MF_CHECKED : MF_UNCHECKED);
+      dsSetShadows (shadows);
+      break;
+    }
+    case IDM_SAVE_SETTINGS: {
+      dsWarning ("\"Save Settings\" not yet implemented.");
+      break;
+    }
+    case IDM_EXIT:
+      PostQuitMessage (0);
+      break;
+    }
+    break;
+
+  case WM_CLOSE:    
+    PostQuitMessage (0);
+    break;
+    
+  default:
+    return (DefWindowProc (hWnd, msg, wParam, lParam));
+  }
+
+  return 0;
+}
+
+
+// this comes from an MSDN example. believe it or not, this is the recommended
+// way to get the console window handle.
+
+static HWND GetConsoleHwnd()
+{
+  // the console window title to a "unique" value, then find the window
+  // that has this title.
+  char title[1024];
+  wsprintf (title,"DrawStuff:%d/%d",GetTickCount(),GetCurrentProcessId());
+  SetConsoleTitle (title);
+  Sleep(40);			// ensure window title has been updated
+  return FindWindow (NULL,title);
+}
+
+
+static void drawStuffStartup()
+{
+  static int startup_called = 0;
+  if (startup_called) return;
+  startup_called = 1;
+  if (!ghInstance)
+    ghInstance = GetModuleHandleA (NULL);
+  gnCmdShow = SW_SHOWNORMAL;		// @@@ fix this later
+
+  // redirect standard I/O to a new console (except on cygwin and mingw)
+#if !defined(__CYGWIN__) && !defined(__MINGW32__)
+  FreeConsole();
+  if (AllocConsole()==0) dsError ("AllocConsole() failed");
+  if (freopen ("CONIN$","rt",stdin)==0) dsError ("could not open stdin");
+  if (freopen ("CONOUT$","wt",stdout)==0) dsError ("could not open stdout");
+  if (freopen ("CONOUT$","wt",stderr)==0) dsError ("could not open stderr");
+  BringWindowToTop (GetConsoleHwnd());
+  SetConsoleTitle ("DrawStuff Messages");
+#endif
+
+  // register the window class
+  WNDCLASS wc;
+  wc.style = CS_OWNDC | CS_VREDRAW | CS_HREDRAW;
+  wc.lpfnWndProc = mainWndProc;
+  wc.cbClsExtra = 0;
+  wc.cbWndExtra = 0;
+  wc.hInstance = ghInstance;
+  wc.hIcon = LoadIcon (NULL,IDI_APPLICATION);
+  wc.hCursor = LoadCursor (NULL,IDC_ARROW);
+  wc.hbrBackground = (HBRUSH) (COLOR_WINDOW+1);
+  wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU1);
+  wc.lpszClassName = "SimAppClass";
+  if (RegisterClass (&wc)==0) dsError ("could not register window class");
+
+  // load accelerators
+  accelerators = LoadAccelerators (ghInstance,
+				   MAKEINTRESOURCE(IDR_ACCELERATOR1));
+  if (accelerators==NULL) dsError ("could not load accelerators");
+}
+
+
+void dsPlatformSimLoop (int window_width, int window_height,
+			dsFunctions *fn, int initial_pause)
+{
+  drawStuffStartup();
+  setupRendererGlobals();
+  renderer_pause = initial_pause;
+
+  // create window - but first get window size for desired size of client area.
+  // if this adjustment isn't made then the openGL area will be shifted into
+  // the nonclient area and determining the frame buffer coordinate from the
+  // client area coordinate will be hard.
+  RECT winrect;
+  winrect.left = 50;
+  winrect.top = 80;
+  winrect.right = winrect.left + window_width;
+  winrect.bottom = winrect.top + window_height;
+  DWORD style = WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS;
+  AdjustWindowRect (&winrect,style,1);
+  char title[100];
+  sprintf (title,"Simulation test environment v%d.%02d",
+	   DS_VERSION >> 8,DS_VERSION & 0xff);
+  main_window = CreateWindow ("SimAppClass",title,style,
+    winrect.left,winrect.top,winrect.right-winrect.left,winrect.bottom-winrect.top,
+    NULL,NULL,ghInstance,NULL);
+  if (main_window==NULL) dsError ("could not create main window");
+  ShowWindow (main_window, gnCmdShow);
+
+  HDC dc = GetDC (main_window);			// get DC for this window
+  if (dc==NULL) dsError ("could not get window DC");
+
+  // set pixel format for DC
+
+  PIXELFORMATDESCRIPTOR pfd = {
+    sizeof(PIXELFORMATDESCRIPTOR),   // size of this pfd
+    1,				     // version number
+    PFD_DRAW_TO_WINDOW |	     // support window
+    PFD_SUPPORT_OPENGL |	     // support OpenGL
+    PFD_DOUBLEBUFFER,		     // double buffered
+    PFD_TYPE_RGBA,		     // RGBA type
+    24, 			     // 24-bit color depth
+    0, 0, 0, 0, 0, 0,		     // color bits ignored
+    0,				     // no alpha buffer
+    0,				     // shift bit ignored
+    0,				     // no accumulation buffer
+    0, 0, 0, 0, 		     // accum bits ignored
+    32, 			     // 32-bit z-buffer
+    0,				     // no stencil buffer
+    0,				     // no auxiliary buffer
+    PFD_MAIN_PLANE,		     // main layer
+    0,				     // reserved
+    0, 0, 0			     // layer masks ignored
+  };
+  // get the best available match of pixel format for the device context
+  int iPixelFormat = ChoosePixelFormat (dc,&pfd);
+  if (iPixelFormat==0)
+    dsError ("could not find a good OpenGL pixel format");
+  // set the pixel format of the device context
+  if (SetPixelFormat (dc,iPixelFormat,&pfd)==FALSE)
+    dsError ("could not set DC pixel format for OpenGL");
+
+  // **********
+  // start the rendering thread
+
+  // set renderer globals
+  renderer_dc = dc;
+  renderer_width = window_width;
+  renderer_height = window_height;
+  renderer_fn = fn;
+
+  unsigned threadId;
+  HANDLE hThread;
+
+  hThread = (HANDLE)_beginthreadex(
+	NULL,			     // no security attributes
+	0,			     // use default stack size
+	&renderingThread,	     // thread function
+	NULL,		     // argument to thread function
+	0,			     // use default creation flags
+	&threadId);		     // returns the thread identifier
+
+  if (hThread==NULL) dsError ("Could not create rendering thread");
+
+  // **********
+  // start GUI message processing
+
+  MSG msg;
+  while (GetMessage (&msg,main_window,0,0)) {
+    if (!TranslateAccelerator (main_window,accelerators,&msg)) {
+      TranslateMessage (&msg);
+      DispatchMessage (&msg);
+    }
+  }
+
+  // terminate rendering thread
+  renderer_run = 0;
+  DWORD ret = WaitForSingleObject (hThread,2000);
+  if (ret==WAIT_TIMEOUT) dsWarning ("Could not kill rendering thread (1)");
+  DWORD exitcode=0;
+  if (!(GetExitCodeThread (hThread,&exitcode) && exitcode == 123))
+    dsWarning ("Could not kill rendering thread (2)");
+  CloseHandle (hThread);	     // dont need thread handle anymore
+
+  // destroy window
+  DestroyWindow (main_window);
+}
+
+
+extern "C" void dsStop()
+{
+  // just calling PostQuitMessage() here wont work, as this function is
+  // typically called from the rendering thread, not the GUI thread.
+  // instead we must post the message to the GUI window explicitly.
+
+  if (main_window) PostMessage (main_window,WM_QUIT,0,0);
+}
+
+
+extern "C" double dsElapsedTime()
+{
+  static double prev=0.0;
+  double curr = timeGetTime()/1000.0;
+  if (!prev)
+    prev=curr;
+  double retval = curr-prev;
+  prev=curr;
+  if (retval>1.0) retval=1.0;
+  if (retval<dEpsilon) retval=dEpsilon;
+  return retval;
+}
+
+
+// JPerkins: if running as a DLL, grab my module handle at load time so
+// I can find the accelerators table later
+
+BOOL WINAPI DllMain(HINSTANCE hinstDLL, DWORD fdwReason, LPVOID lpReserved)
+{
+  switch (fdwReason)
+  {
+  case DLL_PROCESS_ATTACH:
+    ghInstance = hinstDLL;
+    break;
+  }
+  return TRUE;
+}
+
+
+// JPerkins: the new build system can set the entry point of the tests to
+// main(); this code is no longer necessary
+/*
+
+//***************************************************************************
+// windows entry point
+//
+// NOTE: WinMain is not guaranteed to be called with MinGW, because MinGW
+// always calls main if it is defined and most users of this library will
+// define their own main. So the startup functionality is kept in
+// zDriverStartup(), which is also called when dsSimulationLoop() is called.
+
+extern "C" int main (int argc, char **argv);
+
+
+int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
+		   LPSTR lpCmdLine, int nCmdShow)
+{
+  drawStuffStartup();
+  return main (0,0);	// @@@ should really pass cmd line arguments
+}
+
+*/
+
+
+

thirdparty/ode-0.16.5/drawstuff/src/x11.cpp

@@ -0,0 +1,459 @@
+/*************************************************************************
+ *                                                                       *
+ * 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
+}
+
+
+