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authordan miller2007-10-19 05:20:48 +0000
committerdan miller2007-10-19 05:20:48 +0000
commitd48ea5bb797037069d641da41da0f195f0124491 (patch)
tree40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
parentdont ask (diff)
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one more for the gipper
Diffstat (limited to 'libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff')
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff148
1 files changed, 148 insertions, 0 deletions
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
new file mode 100644
index 0000000..80397f0
--- /dev/null
+++ b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
@@ -0,0 +1,148 @@
12659,2804d2658
2<
3< /******************** breakable joint contribution ***********************/
4< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
5< dAASSERT(joint);
6< if (b) {
7< // we want this joint to be breakable but we must first check if it
8< // was already breakable
9< if (!joint->breakInfo) {
10< // allocate a dxJointBreakInfo struct
11< joint->breakInfo = new dxJointBreakInfo;
12< joint->breakInfo->flags = 0;
13< for (int i = 0; i < 3; i++) {
14< joint->breakInfo->b1MaxF[0] = 0;
15< joint->breakInfo->b1MaxT[0] = 0;
16< joint->breakInfo->b2MaxF[0] = 0;
17< joint->breakInfo->b2MaxT[0] = 0;
18< }
19< joint->breakInfo->callback = 0;
20< }
21< else {
22< // the joint was already breakable
23< return;
24< }
25< }
26< else {
27< // we want this joint to be unbreakable mut we must first check if
28< // it is alreay unbreakable
29< if (joint->breakInfo) {
30< // deallocate the dxJointBreakInfo struct
31< delete joint->breakInfo;
32< joint->breakInfo = 0;
33< }
34< else {
35< // the joint was already unbreakable
36< return;
37< }
38< }
39< }
40<
41< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
42< dAASSERT(joint);
43< # ifndef dNODEBUG
44< // only works for a breakable joint
45< if (!joint->breakInfo) {
46< dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
47< }
48< # endif
49< joint->breakInfo->callback = callbackFunc;
50< }
51<
52< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
53< dAASSERT(joint);
54< # ifndef dNODEBUG
55< // only works for a breakable joint
56< if (!joint->breakInfo) {
57< dDebug (0, "dJointSetBreakMode called on unbreakable joint");
58< }
59< # endif
60< joint->breakInfo->flags = mode;
61< }
62<
63< extern "C" int dJointGetBreakMode (dxJoint *joint) {
64< dAASSERT(joint);
65< # ifndef dNODEBUG
66< // only works for a breakable joint
67< if (!joint->breakInfo) {
68< dDebug (0, "dJointGetBreakMode called on unbreakable joint");
69< }
70< # endif
71< return joint->breakInfo->flags;
72< }
73<
74< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
75< dAASSERT(joint);
76< # ifndef dNODEBUG
77< // only works for a breakable joint
78< if (!joint->breakInfo) {
79< dDebug (0, "dJointSetBreakForce called on unbreakable joint");
80< }
81< # endif
82< if (body) {
83< joint->breakInfo->b2MaxF[0] = x;
84< joint->breakInfo->b2MaxF[1] = y;
85< joint->breakInfo->b2MaxF[2] = z;
86< }
87< else {
88< joint->breakInfo->b1MaxF[0] = x;
89< joint->breakInfo->b1MaxF[1] = y;
90< joint->breakInfo->b1MaxF[2] = z;
91< }
92< }
93<
94< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
95< dAASSERT(joint);
96< # ifndef dNODEBUG
97< // only works for a breakable joint
98< if (!joint->breakInfo) {
99< dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
100< }
101< # endif
102< if (body) {
103< joint->breakInfo->b2MaxT[0] = x;
104< joint->breakInfo->b2MaxT[1] = y;
105< joint->breakInfo->b2MaxT[2] = z;
106< }
107< else {
108< joint->breakInfo->b1MaxT[0] = x;
109< joint->breakInfo->b1MaxT[1] = y;
110< joint->breakInfo->b1MaxT[2] = z;
111< }
112< }
113<
114< extern "C" int dJointIsBreakable (dxJoint *joint) {
115< dAASSERT(joint);
116< return joint->breakInfo != 0;
117< }
118<
119< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
120< dAASSERT(joint);
121< # ifndef dNODEBUG
122< // only works for a breakable joint
123< if (!joint->breakInfo) {
124< dDebug (0, "dJointGetBreakForce called on unbreakable joint");
125< }
126< # endif
127< if (body)
128< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
129< else
130< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
131< }
132<
133< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
134< dAASSERT(joint);
135< # ifndef dNODEBUG
136< // only works for a breakable joint
137< if (!joint->breakInfo) {
138< dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
139< }
140< # endif
141< if (body)
142< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
143< else
144< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
145< }
146< /*************************************************************************/
147<
148\ No newline at end of file
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