IK Solver: remove unused and outdated test code.

10 files changed, 0 insertions, 1563 deletions

diff --git a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp
deleted file mode 100644
index b138dd18725..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "GlutDrawer.h"
-
-#include "MT_assert.h"
-
-MEM_SmartPtr<GlutDrawManager> GlutDrawManager::m_s_instance = MEM_SmartPtr<GlutDrawManager>();
-
-	GlutDrawManager *
-GlutDrawManager::
-Instance(
-){
-	if (m_s_instance == NULL) {
-		m_s_instance = new GlutDrawManager();
-	}
-
-	return m_s_instance;
-}
-
-
-// this is the function you should pass to glut
-
-	void
-GlutDrawManager::
-Draw(
-){
-	GlutDrawManager *manager = GlutDrawManager::Instance();
-
-	if (manager->m_drawer != NULL) {
-		manager->m_drawer->Draw();
-	}
-}
-
-	void
-GlutDrawManager::
-InstallDrawer(
-	GlutDrawer * drawer
-){
-
-	MT_assert(m_drawer == NULL);
-	m_drawer = drawer;
-}
-
-	void
-GlutDrawManager::
-ReleaseDrawer(
-){
-	m_drawer = NULL;
-}
-
-
-GlutDrawManager::
-~GlutDrawManager(
-){
-
-	delete(m_drawer);
-}
-
-
-
-
-
-
-
-
-
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h b/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h
deleted file mode 100644
index 05d2424dfea..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutDrawer.h
+++ /dev/null
@@ -1,95 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __GLUTDRAWER_H__
-#define __GLUTDRAWER_H__
-
-#include "MEM_NonCopyable.h"
-#include "MEM_SmartPtr.h"
-
-// So pissed off with Glut callback stuff
-// that is impossible to call objects unless they are global
-
-// inherit from GlutDrawer and installl the drawer in the singleton
-// class GlutDrawManager.
-
-class GlutDrawer {
-public :
-
-	virtual 
-		void
-	Draw(
-	)= 0;
-
-	virtual 
-	~GlutDrawer(
-	){};		
-};
-
-class GlutDrawManager : public MEM_NonCopyable{
-
-public :
-
-	static
-		GlutDrawManager *
-	Instance(
-	);
-
-	// this is the function you should pass to glut
-
-	static
-		void
-	Draw(
-	);
-
-		void
-	InstallDrawer(
-		GlutDrawer *
-	);
-
-		void
-	ReleaseDrawer(
-	);
-
-	~GlutDrawManager(
-	);
-
-private :
-
-	GlutDrawManager (
-	) :
-		m_drawer (0)
-	{
-	};
-	
-	GlutDrawer * m_drawer;
-
-	static MEM_SmartPtr<GlutDrawManager> m_s_instance;
-};	
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp
deleted file mode 100644
index 0b7a16b032b..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "GlutKeyboardManager.h"
-#include "MT_assert.h"
-
-MEM_SmartPtr<GlutKeyboardManager> GlutKeyboardManager::m_s_instance = MEM_SmartPtr<GlutKeyboardManager>();
-
-	GlutKeyboardManager *
-GlutKeyboardManager::
-Instance(
-){
-	if (m_s_instance == NULL) {
-		m_s_instance = new GlutKeyboardManager();
-	}
-
-	return m_s_instance;
-}
-
-
-// this is the function you should pass to glut
-
-	void
-GlutKeyboardManager::
-HandleKeyboard(
-	unsigned char key,
-	int x,
-	int y
-){
-	GlutKeyboardManager *manager = GlutKeyboardManager::Instance();
-
-	if (manager->m_handler != NULL) {
-		manager->m_handler->HandleKeyboard(key,x,y);
-	}
-}
-
-	void
-GlutKeyboardManager::
-InstallHandler(
-	GlutKeyboardHandler * handler
-){
-
-	MT_assert(m_handler == NULL);
-	m_handler = handler;
-}
-
-	void
-GlutKeyboardManager::
-ReleaseHandler(
-){
-	m_handler = NULL;
-}
-
-
-GlutKeyboardManager::
-~GlutKeyboardManager(
-){
-
-	delete(m_handler);
-}
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h b/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h
deleted file mode 100644
index ea39b6835f6..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutKeyboardManager.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __GLUTKEYBOARDMANAGER_H__
-#define __GLUTKEYBOARDMANAGER_H__
-
-#include "MEM_NonCopyable.h"
-#include "MEM_SmartPtr.h"
-
-// So pissed off with Glut callback stuff
-// that is impossible to call objects unless they are global
-
-// inherit from GlutKeyboardHandler and installl the drawer in the singleton
-// class GlutKeyboardManager.
-
-class GlutKeyboardHandler : public MEM_NonCopyable {
-public :
-
-	virtual 
-		void
-	HandleKeyboard(
-		unsigned char key,
-		int x,
-		int y
-	)= 0;
-
-	virtual 
-	~GlutKeyboardHandler(
-	){};		
-};
-
-class GlutKeyboardManager : public MEM_NonCopyable{
-
-public :
-
-	static
-		GlutKeyboardManager *
-	Instance(
-	);
-
-	// this is the function you should pass to glut
-
-	static
-		void
-	HandleKeyboard(
-		unsigned char key,
-		int x,
-		int y
-	);
-
-		void
-	InstallHandler(
-		GlutKeyboardHandler *
-	);
-
-		void
-	ReleaseHandler(
-	);
-
-	~GlutKeyboardManager(
-	);
-
-private :
-
-	GlutKeyboardManager (
-	) :
-		m_handler (0)
-	{
-	};
-	
-	GlutKeyboardHandler * m_handler;
-
-	static MEM_SmartPtr<GlutKeyboardManager> m_s_instance;
-};	
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp
deleted file mode 100644
index c426f933e67..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "GlutMouseManager.h"
-#include "MT_assert.h"
-
-MEM_SmartPtr<GlutMouseManager> GlutMouseManager::m_s_instance = MEM_SmartPtr<GlutMouseManager>();
-
-
-	GlutMouseManager *
-GlutMouseManager::
-Instance(
-){
-	if (m_s_instance == NULL) {
-		m_s_instance = new GlutMouseManager();
-	}
-
-	return m_s_instance;
-}	
-
-// these are the functions you should pass to GLUT	
-
-	void
-GlutMouseManager::
-Mouse(
-	int button,
-	int state,
-	int x,
-	int y
-){
-	GlutMouseManager *manager = GlutMouseManager::Instance();
-
-	if (manager->m_handler != NULL) {
-		manager->m_handler->Mouse(button,state,x,y);
-	}
-}
-
-	void
-GlutMouseManager::
-Motion(
-	int x,
-	int y
-){
-	GlutMouseManager *manager = GlutMouseManager::Instance();
-
-	if (manager->m_handler != NULL) {
-		manager->m_handler->Motion(x,y);
-	}
-}
-
-	void
-GlutMouseManager::
-InstallHandler(
-	GlutMouseHandler *handler
-){
-
-	MT_assert(m_handler == NULL);
-	m_handler = handler;
-}
-
-	void
-GlutMouseManager::
-ReleaseHandler(
-){
-	m_handler = NULL;
-}
-
-GlutMouseManager::
-~GlutMouseManager(
-){
-
-	delete(m_handler);
-}
-
-
diff --git a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h b/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h
deleted file mode 100644
index 4a2344b7c74..00000000000
--- a/intern/iksolver/test/ik_glut_test/common/GlutMouseManager.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __GLUTMOUSEMANAGER_H__
-#define __GLUTMOUSEMANAGER_H__
-
-#include "MEM_NonCopyable.h"
-#include "MEM_SmartPtr.h"
-
-class GlutMouseHandler {
-public :
-
-	virtual		
-		void
-	Mouse(
-		int button,
-		int state,
-		int x,
-		int y
-	) = 0;
-
-	virtual
-		void
-	Motion(
-		int x,
-		int y
-	) = 0;
-
-	virtual 
-	~GlutMouseHandler(
-	){};		
-};
-
-class GlutMouseManager : public MEM_NonCopyable{
-
-public :
-
-	static
-		GlutMouseManager *
-	Instance(
-	);
-
-	// these are the functions you should pass to GLUT	
-
-	static
-		void
-	Mouse(
-		int button,
-		int state,
-		int x,
-		int y
-	);
-
-	static
-		void
-	Motion(
-		int x,
-		int y
-	);
-
-		void
-	InstallHandler(
-		GlutMouseHandler *
-	);
-
-		void
-	ReleaseHandler(
-	);
-
-	~GlutMouseManager(
-	);
-
-private :
-
-	GlutMouseManager (
-	) :
-		m_handler (0)
-	{
-	};
-	
-	GlutMouseHandler * m_handler;
-
-	static MEM_SmartPtr<GlutMouseManager> m_s_instance;
-};	
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h b/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
deleted file mode 100644
index f2863806112..00000000000
--- a/intern/iksolver/test/ik_glut_test/intern/ChainDrawer.h
+++ /dev/null
@@ -1,375 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __CHAINDRAWER_H__
-#define __CHAINDRAWER_H__
-
-#include "../common/GlutDrawer.h"
-#include "MyGlutMouseHandler.h"
-#include "MyGlutKeyHandler.h"
-#include "MT_Transform.h"
-#	include "IK_Qsolver.h"
-#	include "../intern/IK_QChain.h"
-#	include "../intern/IK_QSolver_Class.h"
-#include <GL/glut.h>
-
-class ChainDrawer : public GlutDrawer
-{
-public :
-	static
-		ChainDrawer *
-	New(
-	) {
-		return new ChainDrawer();
-	}
-	
-		void
-	SetMouseHandler(
-		MyGlutMouseHandler *mouse_handler
-	) {
-		m_mouse_handler = mouse_handler;
-	}
-
-		void
-	SetKeyHandler (
-		MyGlutKeyHandler *key_handler
-	) {
-		m_key_handler = key_handler;
-	}
-
-		void
-	SetChain(
-		IK_Chain_ExternPtr *chains,int chain_num
-	) {
-		m_chain_num = chain_num;
-		m_chains = chains;
-	}
-
-
-	// inherited from GlutDrawer
-		void
-	Draw(
-	) {
-	  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-		  glPopMatrix();
-		  glPushMatrix();
-		  glRotatef(m_mouse_handler->AngleX(), 0.0, 1.0, 0.0);
-		  glRotatef(m_mouse_handler->AngleY(), 1.0, 0.0, 0.0);
-			
-	  DrawScene();
-	  glutSwapBuffers();
-
-	}
-
-	~ChainDrawer(
-	){
-		// nothing to do
-	};		
-	
-private :
-
-		void
-	DrawScene(
-	){
-
-		// draw a little cross at the position of the key handler
-		// coordinates
-
-		MT_Vector3 line_x(4,0,0);
-		MT_Vector3 line_y(0.0,4,0);
-		MT_Vector3 line_z(0.0,0.0,4);
-
-		MT_Vector3 cross_origin = m_mouse_handler->Position();
-		MT_Vector3 temp;
-		
-		glDisable(GL_LIGHTING);
-
-
-		glBegin(GL_LINES);
-
-		glColor3f (1.0f,1.0f,1.0f);
-
-		temp = cross_origin - line_x;
-		glVertex3f(temp[0],temp[1],temp[2]);
-		temp = cross_origin + line_x;
-		glVertex3f(temp[0],temp[1],temp[2]);
-
-		temp = cross_origin - line_y;
-		glVertex3f(temp[0],temp[1],temp[2]);
-		temp = cross_origin + line_y;
-		glVertex3f(temp[0],temp[1],temp[2]);
-
-		temp = cross_origin - line_z;
-		glVertex3f(temp[0],temp[1],temp[2]);
-		temp = cross_origin + line_z;
-		glVertex3f(temp[0],temp[1],temp[2]);
-
-		glEnd();
-		glEnable(GL_LIGHTING);
-
-
-		IK_Chain_ExternPtr chain;
-
-		int chain_num;
-		for (chain_num = 0; chain_num < m_chain_num; chain_num++) {
-			chain = m_chains[chain_num];
-
-
-			IK_Segment_ExternPtr segs = chain->segments;
-			IK_Segment_ExternPtr seg_start = segs;
-			const IK_Segment_ExternPtr seg_end = segs + chain->num_segments;
-			float ogl_matrix[16];
-
-			glColor3f (0.0f,1.0f,0.0f);
-
-			MT_Vector3 previous_origin(0,0,0);
-
-			MT_Transform global_transform;
-			global_transform.setIdentity();
-			
-			for (; seg_start != seg_end; ++seg_start) {
-				
-				glPushMatrix();
-
-				// fill ogl_matrix with zeros
-
-				std::fill(ogl_matrix,ogl_matrix + 16,float(0));
-
-				// we have to do a bit of work here to compute the chain's
-				// bone values
-					
-				// first compute all the matrices we need
-				
-				MT_Transform translation;
-				translation.setIdentity();
-				translation.translate(MT_Vector3(0,seg_start->length,0));
-
-				MT_Matrix3x3 seg_rot(
-					seg_start->basis_change[0],seg_start->basis_change[1],seg_start->basis_change[2],
-					seg_start->basis_change[3],seg_start->basis_change[4],seg_start->basis_change[5],
-					seg_start->basis_change[6],seg_start->basis_change[7],seg_start->basis_change[8]
-				);
-
-				seg_rot.transpose();
-
-				MT_Matrix3x3 seg_pre_rot(
-					seg_start->basis[0],seg_start->basis[1],seg_start->basis[2],
-					seg_start->basis[3],seg_start->basis[4],seg_start->basis[5],
-					seg_start->basis[6],seg_start->basis[7],seg_start->basis[8]
-				);
-
-		
-				MT_Transform seg_t_pre_rot(
-					MT_Point3(
-						seg_start->seg_start[0],
-						seg_start->seg_start[1],
-						seg_start->seg_start[2]
-					),
-					seg_pre_rot
-				);
-				// start of the bone is just the current global transform
-				// multiplied by the seg_start vector
-
-				
-
-				MT_Transform seg_t_rot(MT_Point3(0,0,0),seg_rot);
-				MT_Transform seg_local = seg_t_pre_rot * seg_t_rot * translation;
-
-				MT_Vector3 bone_start = global_transform * 	
-					MT_Point3(
-						seg_start->seg_start[0],
-						seg_start->seg_start[1],
-						seg_start->seg_start[2]
-					);
-
-
-				global_transform = global_transform * seg_local;
-
-				global_transform.getValue(ogl_matrix);
-				MT_Vector3 bone_end = global_transform.getOrigin();
-
-				glMultMatrixf(ogl_matrix);
-//				glutSolidSphere(0.5,5,5);
-
-				glPopMatrix();
-		
-				glDisable(GL_LIGHTING);
-
-				glBegin(GL_LINES);
-
-				// draw lines of the principle axis of the local transform
-
-				MT_Vector3 x_axis(1,0,0);
-				MT_Vector3 y_axis(0,1,0);
-				MT_Vector3 z_axis(0,0,1);
-
-				x_axis = global_transform.getBasis() * x_axis * 5;
-				y_axis = global_transform.getBasis() * y_axis * 5;
-				z_axis = global_transform.getBasis() * z_axis * 5;
-
-
-				x_axis = x_axis + bone_start;
-				y_axis = y_axis + bone_start;
-				z_axis = z_axis + bone_start;
-
-				glColor3f(1,0,0);
-
-				glVertex3f(x_axis.x(),x_axis.y(),x_axis.z());
-				glVertex3f(
-						bone_start.x(),
-						bone_start.y(),
-						bone_start.z()
-				);
-
-				glColor3f(0,1,0);
-
-				glVertex3f(y_axis.x(),y_axis.y(),y_axis.z());
-				glVertex3f(
-						bone_start.x(),
-						bone_start.y(),
-						bone_start.z()
-				);
-
-				glColor3f(0,1,1);
-
-				glVertex3f(z_axis.x(),z_axis.y(),z_axis.z());
-				glVertex3f(
-						bone_start.x(),
-						bone_start.y(),
-						bone_start.z()
-				);
-
-				glColor3f(0,0,1);
-
-				glVertex3f(
-						bone_start.x(),
-						bone_start.y(),
-						bone_start.z()
-				);
-				glVertex3f(bone_end[0],bone_end[1],bone_end[2]);
-
-				glEnd();
-				glEnable(GL_LIGHTING);
-			}
-#if 0
-			// draw jacobian column vectors
-
-			// hack access to internals
-
-			IK_Solver_Class * internals = static_cast<IK_Solver_Class *>(chain->intern);
-
-			glDisable(GL_LIGHTING);
-
-			glBegin(GL_LINES);
-
-			const TNT::Matrix<MT_Scalar> & jac = internals->Chain().TransposedJacobian();
-
-			int i = 0;
-			for (i=0; i < jac.num_rows(); i++) {
-				glColor3f(1,1,1);
-
-				previous_origin = internals->Chain().Segments()[i/3].GlobalSegmentStart();
-
-				glVertex3f(previous_origin[0],previous_origin[1],previous_origin[2]);
-				glVertex3f(jac[i][0] + previous_origin[0],jac[i][1] + previous_origin[1],jac[i][2] + previous_origin[2]);
-			
-				
-			}
-			glEnd();
-			glEnable(GL_LIGHTING);
-#endif
-			
-		}
-
-		glColor3f(1.0,1.0,1.0);
-
-		glDisable(GL_LIGHTING);
-		glBegin(GL_LINES);
-
-		MT_Scalar cube_size = 50;
-		glVertex3f(cube_size,cube_size,cube_size);
-		glVertex3f(-cube_size,cube_size,cube_size);
-
-		glVertex3f(cube_size,-cube_size,cube_size);
-		glVertex3f(-cube_size,-cube_size,cube_size);
-		
-		glVertex3f(cube_size,cube_size,-cube_size);
-		glVertex3f(-cube_size,cube_size,-cube_size);
-
-		glVertex3f(cube_size,-cube_size,-cube_size);
-		glVertex3f(-cube_size,-cube_size,-cube_size);
-
-
-		glVertex3f(-cube_size,cube_size,cube_size);
-		glVertex3f(-cube_size,-cube_size,cube_size);
-
-		glVertex3f(cube_size,cube_size,-cube_size);
-		glVertex3f(cube_size,-cube_size,-cube_size);
-
-		glVertex3f(cube_size,cube_size,cube_size);
-		glVertex3f(cube_size,-cube_size,cube_size);
-
-		glVertex3f(-cube_size,cube_size,-cube_size);
-		glVertex3f(-cube_size,-cube_size,-cube_size);
-
-
-		glVertex3f(cube_size,cube_size,cube_size);
-		glVertex3f(cube_size,cube_size,-cube_size);
-
-		glVertex3f(cube_size,-cube_size,cube_size);
-		glVertex3f(cube_size,-cube_size,-cube_size);
-
-		glVertex3f(-cube_size,cube_size,cube_size);
-		glVertex3f(-cube_size,cube_size,-cube_size);
-
-		glVertex3f(-cube_size,-cube_size,cube_size);
-		glVertex3f(-cube_size,-cube_size,-cube_size);
-		glEnd();
-		glEnable(GL_LIGHTING);
-
-	};
-
-
-
-private :
-
-	MyGlutMouseHandler * m_mouse_handler;
-	MyGlutKeyHandler *m_key_handler;
-	IK_Chain_ExternPtr *m_chains;
-
-	int m_chain_num;
-	ChainDrawer (
-	) : m_chains (NULL),
-		m_mouse_handler (NULL),
-		m_chain_num (0)
-	{
-	};
-	
-};
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h b/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h
deleted file mode 100644
index 621e0d32869..00000000000
--- a/intern/iksolver/test/ik_glut_test/intern/MyGlutKeyHandler.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __MYGLUTKEYHANDLER_H__
-#define __MYGLUTKEYHANDLER_H__
-
-#include "../common/GlutKeyboardManager.h"
-
-class MyGlutKeyHandler : public GlutKeyboardHandler
-{
-public :
-	static
-		MyGlutKeyHandler *
-	New(
-	) {
-		MEM_SmartPtr<MyGlutKeyHandler> output = new MyGlutKeyHandler();
-
-		if (output == NULL
-		) {
-			return NULL;
-		}
-		return output.Release();
-		
-	}	
-
-		void
-	HandleKeyboard(
-		unsigned char key,
-		int x,
-		int y
-	){
-
-		switch (key) {
-
-			case 27 :
-
-				exit(0);
-		}	
-	}
-		
-	~MyGlutKeyHandler(
-	) 
-	{
-	};
-
-private :
-
-	MyGlutKeyHandler(
-	)
-	{
-	}
-
-};
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h b/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h
deleted file mode 100644
index 205ce38ac23..00000000000
--- a/intern/iksolver/test/ik_glut_test/intern/MyGlutMouseHandler.h
+++ /dev/null
@@ -1,206 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#ifndef __MYGLUTMOUSEHANDLER_H__
-#define __MYGLUTMOUSEHANDLER_H__
-
-#include "../common/GlutMouseManager.h"
-#include <GL/glut.h>
-#include "IK_solver.h"
-
-class MyGlutMouseHandler : public GlutMouseHandler
-{
- 
-public :
- 
-	static 
-		MyGlutMouseHandler *
-	New(
-	) {
-		MEM_SmartPtr<MyGlutMouseHandler> output = new MyGlutMouseHandler();
-		if (output == NULL
-		) {
-			return NULL;
-		}
-		return output.Release();
-		
-	}
-
-		void
-	SetChain(
-		IK_Chain_ExternPtr *chains, int num_chains
-	){
-		m_chains = chains;
-		m_num_chains = num_chains;
-	}
-
-		void
-	Mouse(
-		int button,
-		int state,
-		int x,
-		int y
-	){
-		if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {
-			m_moving = true;
-			m_begin_x = x;
-			m_begin_y = y;	
-		}
-		if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
-			m_moving = false;
-		}
-
-		if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN) {
-			m_tracking = true;
-		}
-		if (button == GLUT_RIGHT_BUTTON && state == GLUT_UP) {
-			m_tracking = false;
-		}
-
-		if (button == GLUT_MIDDLE_BUTTON && state == GLUT_DOWN) {
-			m_cg_on = true;
-		}
-		if (button == GLUT_MIDDLE_BUTTON && state == GLUT_UP) {
-			m_cg_on = false;
-		}
-
-	}
-
-
-		void
-	Motion(
-		int x,
-		int y
-	){
-		if (m_moving) {
-			m_angle_x = m_angle_x + (x - m_begin_x);
-			m_begin_x = x;
-
-			m_angle_y = m_angle_y + (y - m_begin_y);
-			m_begin_y = y;
-
-			glutPostRedisplay();
-		}
-		if (m_tracking) {
-
-			int w_h = glutGet((GLenum)GLUT_WINDOW_HEIGHT);
-
-			y = w_h - y;
-
-			double mvmatrix[16];
-			double projmatrix[16];
-			GLint viewport[4];
-
-			double px, py, pz,sz;
-
-			/* Get the matrices needed for gluUnProject */
-			glGetIntegerv(GL_VIEWPORT, viewport);
-			glGetDoublev(GL_MODELVIEW_MATRIX, mvmatrix);
-			glGetDoublev(GL_PROJECTION_MATRIX, projmatrix);
-
-			// work out the position of the end effector in screen space
-
-			GLdouble ex,ey,ez;
-			ex = m_pos.x();
-			ey = m_pos.y();
-			ez = m_pos.z();
-
-			gluProject(ex, ey, ez, mvmatrix, projmatrix, viewport, &px, &py, &sz);
-			gluUnProject((GLdouble) x, (GLdouble) y, sz, mvmatrix, projmatrix, viewport, &px, &py, &pz);
-
-			m_pos = MT_Vector3(px,py,pz);
-
-		}
-		if (m_tracking || m_cg_on) {
-			float temp[3];
-			m_pos.getValue(temp);
-
-			IK_SolveChain(m_chains[0],temp,0.01,200,0.1,m_chains[1]->segments);
-			IK_LoadChain(m_chains[0],m_chains[0]->segments,m_chains[0]->num_segments);
-	
-			glutPostRedisplay();
-		}			
-
-
-	}
-
-	const 
-		float
-	AngleX(
-	) const {
-		return m_angle_x;
-	}
-
-	const 
-		float
-	AngleY(
-	) const {
-		return m_angle_y;
-	}
-
-	const
-		MT_Vector3	
-	Position(
-	) const {
-		return m_pos;
-	}
-
-
-private :
-
-	MyGlutMouseHandler (
-	) :  
-		m_angle_x(0),
-		m_angle_y(0),
-		m_begin_x(0),
-		m_begin_y(0),
-		m_moving (false),
-		m_tracking (false),
-		m_pos(0,0,0),
-		m_cg_on (false),
-		m_chains(NULL),
-		m_num_chains(0)
-	{
-	};
-		
-	float m_angle_x;
-	float m_angle_y;
-	float m_begin_x;
-	float m_begin_y;
-
-	bool m_moving;
-	bool m_tracking;
-	bool m_cg_on;
-	MT_Vector3 m_pos;
-	
-	IK_Chain_ExternPtr *m_chains;
-	int m_num_chains;
-
-};
-
-#endif
-
diff --git a/intern/iksolver/test/ik_glut_test/intern/main.cpp b/intern/iksolver/test/ik_glut_test/intern/main.cpp
deleted file mode 100644
index bfb9d8fa1a0..00000000000
--- a/intern/iksolver/test/ik_glut_test/intern/main.cpp
+++ /dev/null
@@ -1,321 +0,0 @@
-/**
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program 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
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "MEM_SmartPtr.h"
-
-#ifdef USE_QUATERNIONS
-#include "IK_Qsolver.h"
-#else 
-#include "IK_solver.h"
-#endif
-
-#include <GL/glut.h>
-#include "MT_Vector3.h"
-#include "MT_Quaternion.h"
-#include "MT_Matrix3x3.h"
-#include "MyGlutMouseHandler.h"	
-#include "MyGlutKeyHandler.h"
-#include "ChainDrawer.h"
-
-void init(MT_Vector3 min,MT_Vector3 max)
-{
-	GLfloat light_diffuse0[] = {1.0, 0.0, 0.0, 1.0};  /* Red diffuse light. */
-	GLfloat light_position0[] = {1.0, 1.0, 1.0, 0.0};  /* Infinite light location. */
-
-	GLfloat light_diffuse1[] = {1.0, 1.0, 1.0, 1.0};  /* Red diffuse light. */
-	GLfloat light_position1[] = {1.0, 0, 0, 0.0};  /* Infinite light location. */
-
-	/* Enable a single OpenGL light. */
-	glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse0);
-	glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
-
-	glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse1);
-	glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
-
-	glEnable(GL_LIGHT0);
-	glEnable(GL_LIGHT1);
-	glEnable(GL_LIGHTING);
-
-	/* Use depth buffering for hidden surface elimination. */
-	glEnable(GL_DEPTH_TEST);
-
-	/* Setup the view of the cube. */
-	glMatrixMode(GL_PROJECTION);
-
-	// center of the box + 3* depth of box
-
-	MT_Vector3 center = (min + max) * 0.5;
-	MT_Vector3 diag = max - min;
-
-	float depth = diag.length();
-	float distance = 2;
-
-	gluPerspective(/* field of view in degree */ 40.0,
-	               /* aspect ratio */ 1.0,
-	               /* Z near */ 1.0,
-	               /* Z far */ distance * depth * 2
-	               );
-	glMatrixMode(GL_MODELVIEW);
-
-
-	gluLookAt(center.x(), center.y(), center.z() + distance*depth,  /* eye is at (0,0,5) */
-	          center.x(), center.y(), center.z(),      /* center is at (0,0,0) */
-	          0.0, 1.0, 0.);      /* up is in positive Y direction */
-
-	glPushMatrix();
-
-
-}
-
-int main(int argc, char **argv)
-{
-
-
-	const int seg_num = 5;
-	const MT_Scalar seg_length = 15;
-
-	const float seg_startA[3] = {0,0,0};
-	const float seg_startB[3] = {0,-20,0};
-
-	// create some segments to solve with
-
-	// First chain
-	//////////////
-
-
-	IK_Segment_ExternPtr const segmentsA = new IK_Segment_Extern[seg_num]; 	
-	IK_Segment_ExternPtr const segmentsB = new IK_Segment_Extern[seg_num]; 	
-
-	IK_Segment_ExternPtr seg_it = segmentsA; 	
-	IK_Segment_ExternPtr seg_itB = segmentsB; 	
-
-	
-	{
-
-//		MT_Quaternion qmat(MT_Vector3(0,0,1),-3.141/2);
-		MT_Quaternion qmat(MT_Vector3(0,0,1),0);
-		MT_Matrix3x3 mat(qmat);
-
-		seg_it->seg_start[0] = seg_startA[0];
-		seg_it->seg_start[1] = seg_startA[1];
-		seg_it->seg_start[2] = seg_startA[2];
-
-		float temp[12];
-		mat.getValue(temp);
- 
-		seg_it->basis[0] = temp[0];
-		seg_it->basis[1] = temp[1];
-		seg_it->basis[2] = temp[2];
-
-		seg_it->basis[3] = temp[4];
-		seg_it->basis[4] = temp[5];
-		seg_it->basis[5] = temp[6];
-
-		seg_it->basis[6] = temp[8];
-		seg_it->basis[7] = temp[9];
-		seg_it->basis[8] = temp[10];
- 
-		seg_it->length = seg_length;
-
-		MT_Quaternion q;
-		q.setEuler(0,0,0);
-
-			
-		MT_Matrix3x3 qrot(q);
-
-		seg_it->basis_change[0] = 1;
-		seg_it->basis_change[1] = 0;
-		seg_it->basis_change[2] = 0;
-		seg_it->basis_change[3] = 0;
-		seg_it->basis_change[4] = 1;
-		seg_it->basis_change[5] = 0;
-		seg_it->basis_change[6] = 0;
-		seg_it->basis_change[7] = 0;
-		seg_it->basis_change[8] = 1;
-
-
-		seg_it ++;			
-
-		seg_itB->seg_start[0] = seg_startA[0];
-		seg_itB->seg_start[1] = seg_startA[1];
-		seg_itB->seg_start[2] = seg_startA[2];
- 
-		seg_itB->basis[0] = temp[0];
-		seg_itB->basis[1] = temp[1];
-		seg_itB->basis[2] = temp[2];
-
-		seg_itB->basis[3] = temp[4];
-		seg_itB->basis[4] = temp[5];
-		seg_itB->basis[5] = temp[6];
-
-		seg_itB->basis[6] = temp[8];
-		seg_itB->basis[7] = temp[9];
-		seg_itB->basis[8] = temp[10];
- 
-		seg_itB->length = seg_length;
-
-		seg_itB->basis_change[0] = 1;
-		seg_itB->basis_change[1] = 0;
-		seg_itB->basis_change[2] = 0;
-		seg_itB->basis_change[3] = 0;
-		seg_itB->basis_change[4] = 1;
-		seg_itB->basis_change[5] = 0;
-		seg_itB->basis_change[6] = 0;
-		seg_itB->basis_change[7] = 0;
-		seg_itB->basis_change[8] = 1;
-
-
-		seg_itB ++;			
-
-
-	}
-
-
-	int i;
-	for (i=1; i < seg_num; ++i, ++seg_it,++seg_itB) {
-
-		MT_Quaternion qmat(MT_Vector3(0,0,1),0.3);
-		MT_Matrix3x3 mat(qmat);
-
-		seg_it->seg_start[0] = 0;
-		seg_it->seg_start[1] = 0;
-		seg_it->seg_start[2] = 0;
-
-		float temp[12];
-		mat.getValue(temp);
- 
-		seg_it->basis[0] = temp[0];
-		seg_it->basis[1] = temp[1];
-		seg_it->basis[2] = temp[2];
-
-		seg_it->basis[3] = temp[4];
-		seg_it->basis[4] = temp[5];
-		seg_it->basis[5] = temp[6];
-
-		seg_it->basis[6] = temp[8];
-		seg_it->basis[7] = temp[9];
-		seg_it->basis[8] = temp[10];
- 
-		seg_it->length = seg_length;
-
-		MT_Quaternion q;
-		q.setEuler(0,0,0);
-
-			
-		MT_Matrix3x3 qrot(q);
-
-		seg_it->basis_change[0] = 1;
-		seg_it->basis_change[1] = 0;
-		seg_it->basis_change[2] = 0;
-		seg_it->basis_change[3] = 0;
-		seg_it->basis_change[4] = 1;
-		seg_it->basis_change[5] = 0;
-		seg_it->basis_change[6] = 0;
-		seg_it->basis_change[7] = 0;
-		seg_it->basis_change[8] = 1;
-
-
-		///////////////////////////////
-
-		seg_itB->seg_start[0] = 0;
-		seg_itB->seg_start[1] = 0;
-		seg_itB->seg_start[2] = 0;
- 
-		seg_itB->basis[0] = temp[0];
-		seg_itB->basis[1] = temp[1];
-		seg_itB->basis[2] = temp[2];
-
-		seg_itB->basis[3] = temp[4];
-		seg_itB->basis[4] = temp[5];
-		seg_itB->basis[5] = temp[6];
-
-		seg_itB->basis[6] = temp[8];
-		seg_itB->basis[7] = temp[9];
-		seg_itB->basis[8] = temp[10];
- 
-		seg_itB->length = seg_length;
-
-		seg_itB->basis_change[0] = 1;
-		seg_itB->basis_change[1] = 0;
-		seg_itB->basis_change[2] = 0;
-		seg_itB->basis_change[3] = 0;
-		seg_itB->basis_change[4] = 1;
-		seg_itB->basis_change[5] = 0;
-		seg_itB->basis_change[6] = 0;
-		seg_itB->basis_change[7] = 0;
-		seg_itB->basis_change[8] = 1;
-
-
-
-	}
-
-	// create the chains
-
-	const int num_chains = 2;
-
-	IK_Chain_ExternPtr chains[num_chains];
-
-	chains[0] = IK_CreateChain();
-	chains[1] = IK_CreateChain();
-
-	// load segments into chain
-
-	IK_LoadChain(chains[0],segmentsA,seg_num);
-	IK_LoadChain(chains[1],segmentsB,seg_num);
-
-	// make and install a mouse handler
-
-	MEM_SmartPtr<MyGlutMouseHandler> mouse_handler (MyGlutMouseHandler::New());
-	GlutMouseManager::Instance()->InstallHandler(mouse_handler);
-
-	mouse_handler->SetChain(chains,num_chains);
-
-	// make and install a keyhandler
-	MEM_SmartPtr<MyGlutKeyHandler> key_handler (MyGlutKeyHandler::New());
-	GlutKeyboardManager::Instance()->InstallHandler(key_handler);
-
-	// instantiate the drawing class	
-
-	MEM_SmartPtr<ChainDrawer> drawer (ChainDrawer::New());
-	GlutDrawManager::Instance()->InstallDrawer(drawer);
-
-	drawer->SetMouseHandler(mouse_handler);
-	drawer->SetChain(chains,num_chains);
-	drawer->SetKeyHandler(key_handler);
-
-	glutInit(&argc, argv);
-	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
-	glutCreateWindow("ik");
-	glutDisplayFunc(GlutDrawManager::Draw);
-	glutMouseFunc(GlutMouseManager::Mouse);
-	glutMotionFunc(GlutMouseManager::Motion);
-	glutKeyboardFunc(GlutKeyboardManager::HandleKeyboard);
-
-	init(MT_Vector3(-50,-50,-50),MT_Vector3(50,50,50));
-	glutMainLoop();
-	return 0;             /* ANSI C requires main to return int. */
-}