#include <stdlib.h>
#include <stdio.h>
#include <ode/ode.h>

static dWorldID world;
static dBodyID ball;


int main(int argc, char** argv) {
	FILE *fp;
	int i;
	const dReal *pos;
	dMass temp_mass;
	float step_size = 0.1;

	fp = fopen("output.txt", "w");

	/* Create a world and set gravity */
	world = dWorldCreate();
	dWorldSetGravity(world, 0.0, -9.80665, 0.0);

	/* Create a ball in the world */
	ball = dBodyCreate(world);
	dBodySetPosition(ball, 0.0, 0.0, 0.0);
	dMassSetSphere(&temp_mass, 1.0, 0.5);
	dBodySetMass(ball, &temp_mass);

	/* Write out the y-coordinate for the position of the ball*/
	/* over the first 10 timesteps (0.1 seconds each timestep). */
	for (i = 0; i <= 10; i++) {
		pos = dBodyGetPosition(ball);
		fprintf(fp, "%f\n", pos[1]);
		dWorldStep(world, step_size);
	}

	dWorldDestroy(world);
	dCloseODE();

	fclose(fp);
}