The only executable you need to be able to compile is simulate

animate (birds-eye view graphics)
and animate-lander (graphics from the lander point of view)
are provided as a convenience. You can use any graphics you want.

Here is what I had to do to get the lander06 code running on Linux

Compile it

Move to the lander directory (cd)
> pwd
/home/cga/kdc/lander06/lander

- make simulate, the program that does the simulation
> make simulate
gcc -O3   -c -o simulate.o simulate.c
gcc -O3   -c -o parameters.o parameters.c
gcc -O3   -c -o controller.o controller.c
gcc -O3   -c -o data.o data.c
gcc -O3   -c -o dynamics.o dynamics.c
gcc -O3   -c -o matrix3.o matrix3.c
gcc -O3   -c -o sdfast/alien_d.o sdfast/alien_d.c
gcc -O3   -c -o sdfast/alien_s.o sdfast/alien_s.c
gcc -O3   -c -o sdfast/alien_lib.o sdfast/alien_lib.c
gcc -O3   -c -o sdfast/lander_d.o sdfast/lander_d.c
gcc -O3   -c -o sdfast/lander_s.o sdfast/lander_s.c
gcc -O3   -c -o sdfast/lander_lib.o sdfast/lander_lib.c
gcc -O3 -o simulate simulate.o parameters.o controller.o data.o dynamics.o matrix3.o sdfast/alien_d.o sdfast/alien_s.o sdfast/alien_lib.o sdfast/lander_d.o sdfast/lander_s.o sdfast/lander_lib.o ../useful/mrdplot/mrdplot.o -lm

Run simulate:
Simulate does not do graphics, but writes a data file you can plot later.
> ./simulate
> ls -lt 
total 5.8M
-rw-rw-r-- 1 cga cga 4.9M Mar 13 20:16 d00059
...

The mrdplot code in landerxx/useful/mrdplot provides code to plot
this file in matlab or parse it in C.
FYI: This is the data file format used by Boston Dynamics, and Stefan
Schaal's and my groups.

*******************************************************************
*******************************************************************

If you want my graphics (animate and animate-lander):

1) I use ODE (www.ode.org) graphics.
If you don't have ODE installed,
Install ODE (www.ode.org)
I had already done this, so I just checked I have the right files:

> ls /usr/local/include/ode*
collision.h          export-dif.h  odecpp_collision.h  rotation.h
collision_space.h    mass.h        odecpp.h            threading.h
collision_trimesh.h  matrix.h      ode.h               threading_impl.h
common.h             memory.h      odeinit.h           timer.h
compatibility.h      misc.h        odemath.h
contact.h            objects.h     odemath_legacy.h
error.h              odeconfig.h   precision.h

> ls /usr/local/lib/*ode*
/usr/local/lib/libode.a
/usr/local/lib/libode.la

*********************************

2) Move to the lander directory (cd) and fix a few things
if you want graphics).
> pwd
/home/cga/kdc/lander06/lander

- get rid of old versions if necessary. make will do the right thing.
> rm ../useful/mrdplot/*.o
rm: remove regular file ‘../useful/mrdplot/mrdplot.o’? y
> rm ../useful/useful/*.o
rm: remove regular file ‘../useful/useful/useful.o’? y

- copy in draw library from ODE.
cp /home/cga/ode-0.13/drawstuff/src/.libs/libdrawstuff.a /home/cga/kdc/lander06/useful/drawstuff-linux/

Edit animate.c and animate-lander.c to fix path.
Edit 2nd path here (the path used in linux)
#ifdef WIN32
  fn.path_to_textures = "C:/cga/kdc/walk02/useful/drawstuff-windows/textures";
#else
  fn.path_to_textures = "/home/cga/kdc/lander/useful/drawstuff-linux/textures";
#endif


******************************

3) Compile
- this stuff is only necessary for graphics.
- ignore warning messages during compilation
> make
gcc -O3   -c -o ../useful/mrdplot/mrdplot.o ../useful/mrdplot/mrdplot.c
gcc -c -O3 -Wall -fno-exceptions -fomit-frame-pointer -ffast-math -I../useful/drawstuff-linux -DdNODEBUG -o animate.o animate.c
g++   -O3 -o animate animate.o parameters.o ../useful/mrdplot/mrdplot.o ../useful/drawstuff-linux/libdrawstuff.a -lGLU -lGL -lX11 -lm
gcc -c -O3 -Wall -fno-exceptions -fomit-frame-pointer -ffast-math -I../useful/drawstuff-linux -DdNODEBUG -o animate-lander.o animate-lander.c
g++   -O3 -o animate-lander animate-lander.o parameters.o matrix3.o ../useful/mrdplot/mrdplot.o ../useful/drawstuff-linux/libdrawstuff.a -lGLU -lGL -lX11 -lm

So now we have the executables:
animate
animate-lander

**************************************************

Run stuff

animate shows a birds-eye view, and shows how to read data file.
./animate

animate-lander shows the view from the lander
./animate-lander

*************************************************