The CL-ODE is project by Thomas Atkins. It is a Common Lisp wrapper for the Open Dynamics Engine (ODE). I have begun using it for a new project of mine, and one of the things that was missing was that it didn't include the
drawstuff library. The
drawstuff library is a rudimentary library for ODE's example programs. It is not intended to be anything more than a simple harness to exercise the ODE. However, I wanted to get it working so I could at least assure myself that CL-ODE worked. I have submitted a patch to Thomas Atkins.
If you don't have
asdf-install, follow these instructions first.
CL-USER> (asdf-install:install "/Users/shane/.sbcl/site/my-cl-ode/my-cl-ode.tar.gz") Install where? 1) System-wide install: System in /usr/local/lib/sbcl/site-systems/ Files in /usr/local/lib/sbcl/site/ 2) Personal installation: System in /Users/shane/.sbcl/systems/ Files in /Users/shane/.sbcl/site/ --> 2 Installing /Users/shane/.sbcl/site/my-cl-ode/my-cl-ode.tar.gz in /Users/shane/.sbcl/site/,/Users/shane/.sbcl/systems/ my-cl-ode/ my-cl-ode/build.sh [...]
I coded up two examples, basically translating them from C to CFFI Lisp. One is a port of
dstest.cpp which only exercises the
drawstuff library (not really interesting except for debugging purposes). The other is a port of
test-chain1.cpp which exercises both the
ode library and
drawstuff. A picture is shown above of the example running.
CL-USER> (require 'cl-drawstuff-test) NIL CL-USER> (test-chain1::main) [Window pops up that shows the chain bouncing around; close window.] NIL
Here is the source code: cl-ode_0.8a.tgz
Here is the darcs repository: cl-ode