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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/contrib/BreakableJoints/diff
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
Diffstat (limited to 'libraries/ode-0.9/contrib/BreakableJoints/diff')
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff21
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff148
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff18
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff13
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff28
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff130
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff143
-rw-r--r--libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff16
8 files changed, 0 insertions, 517 deletions
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff
deleted file mode 100644
index 24415a1..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff
+++ /dev/null
@@ -1,21 +0,0 @@
1208,227d207
2< /******************** breakable joint contribution ***********************/
3< /* joint break callback function */
4< typedef void dJointBreakCallback (dJointID joint);
5<
6< /* joint break modes */
7< enum {
8< // if this flag is set, the joint wil break
9< dJOINT_BROKEN = 0x0001,
10< // if this flag is set, the joint wil be deleted when it breaks
11< dJOINT_DELETE_ON_BREAK = 0x0002,
12< // if this flag is set, the joint can break at a certain force on body 1
13< dJOINT_BREAK_AT_B1_FORCE = 0x0004,
14< // if this flag is set, the joint can break at a certain torque on body 1
15< dJOINT_BREAK_AT_B1_TORQUE = 0x0008,
16< // if this flag is set, the joint can break at a certain force on body 2
17< dJOINT_BREAK_AT_B2_FORCE = 0x0010,
18< // if this flag is set, the joint can break at a certain torque on body 2
19< dJOINT_BREAK_AT_B2_TORQUE = 0x0020
20< };
21< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
deleted file mode 100644
index 80397f0..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
+++ /dev/null
@@ -1,148 +0,0 @@
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
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff
deleted file mode 100644
index eed3c24..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff
+++ /dev/null
@@ -1,18 +0,0 @@
161,70d60
2< /******************** breakable joint contribution ***********************/
3< struct dxJointBreakInfo : public dBase {
4< int flags;
5< dReal b1MaxF[3]; // maximum force on body 1
6< dReal b1MaxT[3]; // maximum torque on body 1
7< dReal b2MaxF[3]; // maximum force on body 2
8< dReal b2MaxT[3]; // maximum torque on body 2
9< dJointBreakCallback *callback; // function that is called when this joint breaks
10< };
11< /*************************************************************************/
12135,140d124
13<
14< /******************** breakable joint contribution ***********************/
15< // optional break info structure. if this is not NULL the the joint is
16< // breakable.
17< dxJointBreakInfo *breakInfo;
18< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff
deleted file mode 100644
index fd2129e..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff
+++ /dev/null
@@ -1,13 +0,0 @@
1168,179d167
2< /******************** breakable joint contribution ***********************/
3< void dJointSetBreakable (dJointID, int b);
4< void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
5< void dJointSetBreakMode (dJointID, int mode);
6< int dJointGetBreakMode (dJointID);
7< void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
8< void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
9< int dJointIsBreakable (dJointID);
10< void dJointGetBreakForce (dJointID, int body, dReal *force);
11< void dJointGetBreakTorque (dJointID, int body, dReal *torque);
12< /*************************************************************************/
13<
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff
deleted file mode 100644
index 761b7be..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff
+++ /dev/null
@@ -1,28 +0,0 @@
1212,230d211
2< /******************** breakable joint contribution ***********************/
3< dxJoint* nextJ;
4< if (!world->firstjoint)
5< nextJ = 0;
6< else
7< nextJ = (dxJoint*)world->firstjoint->next;
8< for (j=world->firstjoint; j; j=nextJ) {
9< nextJ = (dxJoint*)j->next;
10< // check if joint is breakable and broken
11< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
12< // detach (break) the joint
13< dJointAttach (j, 0, 0);
14< // call the callback function if it is set
15< if (j->breakInfo->callback) j->breakInfo->callback (j);
16< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
17< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
18< }
19< }
20< /*************************************************************************/
21931,933d911
22< /******************** breakable joint contribution ***********************/
23< j->breakInfo = 0;
24< /*************************************************************************/
251011,1013d988
26< /******************** breakable joint contribution ***********************/
27< if (j->breakInfo) delete j->breakInfo;
28< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff
deleted file mode 100644
index dfc8c2f..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff
+++ /dev/null
@@ -1,130 +0,0 @@
1966,1066c966,989
2< /******************** breakable joint contribution ***********************/
3< // this saves us a few dereferences
4< dxJointBreakInfo *jBI = joint[i]->breakInfo;
5< // we need joint feedback if the joint is breakable or if the user
6< // requested feedback.
7< if (jBI||fb) {
8< // we need feedback on the amount of force that this joint is
9< // applying to the bodies. we use a slightly slower computation
10< // that splits out the force components and puts them in the
11< // feedback structure.
12< dJointFeedback temp_fb; // temporary storage for joint feedback
13< dReal data1[8],data2[8];
14< Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
15< dReal *cf1 = cforce + 8*b1->tag;
16< cf1[0] += (temp_fb.f1[0] = data1[0]);
17< cf1[1] += (temp_fb.f1[1] = data1[1]);
18< cf1[2] += (temp_fb.f1[2] = data1[2]);
19< cf1[4] += (temp_fb.t1[0] = data1[4]);
20< cf1[5] += (temp_fb.t1[1] = data1[5]);
21< cf1[6] += (temp_fb.t1[2] = data1[6]);
22< if (b2) {
23< Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
24< dReal *cf2 = cforce + 8*b2->tag;
25< cf2[0] += (temp_fb.f2[0] = data2[0]);
26< cf2[1] += (temp_fb.f2[1] = data2[1]);
27< cf2[2] += (temp_fb.f2[2] = data2[2]);
28< cf2[4] += (temp_fb.t2[0] = data2[4]);
29< cf2[5] += (temp_fb.t2[1] = data2[5]);
30< cf2[6] += (temp_fb.t2[2] = data2[6]);
31< }
32< // if the user requested so we must copy the feedback information to
33< // the feedback struct that the user suplied.
34< if (fb) {
35< // copy temp_fb to fb
36< fb->f1[0] = temp_fb.f1[0];
37< fb->f1[1] = temp_fb.f1[1];
38< fb->f1[2] = temp_fb.f1[2];
39< fb->t1[0] = temp_fb.t1[0];
40< fb->t1[1] = temp_fb.t1[1];
41< fb->t1[2] = temp_fb.t1[2];
42< if (b2) {
43< fb->f2[0] = temp_fb.f2[0];
44< fb->f2[1] = temp_fb.f2[1];
45< fb->f2[2] = temp_fb.f2[2];
46< fb->t2[0] = temp_fb.t2[0];
47< fb->t2[1] = temp_fb.t2[1];
48< fb->t2[2] = temp_fb.t2[2];
49< }
50< }
51< // if the joint is breakable we need to check the breaking conditions
52< if (jBI) {
53< dReal relCF1[3];
54< dReal relCT1[3];
55< // multiply the force and torque vectors by the rotation matrix of body 1
56< dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]);
57< dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]);
58< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
59< // check if the force is to high
60< for (int i = 0; i < 3; i++) {
61< if (relCF1[i] > jBI->b1MaxF[i]) {
62< jBI->flags |= dJOINT_BROKEN;
63< goto doneCheckingBreaks;
64< }
65< }
66< }
67< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
68< // check if the torque is to high
69< for (int i = 0; i < 3; i++) {
70< if (relCT1[i] > jBI->b1MaxT[i]) {
71< jBI->flags |= dJOINT_BROKEN;
72< goto doneCheckingBreaks;
73< }
74< }
75< }
76< if (b2) {
77< dReal relCF2[3];
78< dReal relCT2[3];
79< // multiply the force and torque vectors by the rotation matrix of body 2
80< dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]);
81< dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]);
82< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
83< // check if the force is to high
84< for (int i = 0; i < 3; i++) {
85< if (relCF2[i] > jBI->b2MaxF[i]) {
86< jBI->flags |= dJOINT_BROKEN;
87< goto doneCheckingBreaks;
88< }
89< }
90< }
91< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
92< // check if the torque is to high
93< for (int i = 0; i < 3; i++) {
94< if (relCT2[i] > jBI->b2MaxT[i]) {
95< jBI->flags |= dJOINT_BROKEN;
96< goto doneCheckingBreaks;
97< }
98< }
99< }
100< }
101< doneCheckingBreaks:
102< ;
103---
104> if (fb) {
105> // the user has requested feedback on the amount of force that this
106> // joint is applying to the bodies. we use a slightly slower
107> // computation that splits out the force components and puts them
108> // in the feedback structure.
109> dReal data1[8],data2[8];
110> Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
111> dReal *cf1 = cforce + 8*b1->tag;
112> cf1[0] += (fb->f1[0] = data1[0]);
113> cf1[1] += (fb->f1[1] = data1[1]);
114> cf1[2] += (fb->f1[2] = data1[2]);
115> cf1[4] += (fb->t1[0] = data1[4]);
116> cf1[5] += (fb->t1[1] = data1[5]);
117> cf1[6] += (fb->t1[2] = data1[6]);
118> if (b2){
119> Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
120> dReal *cf2 = cforce + 8*b2->tag;
121> cf2[0] += (fb->f2[0] = data2[0]);
122> cf2[1] += (fb->f2[1] = data2[1]);
123> cf2[2] += (fb->f2[2] = data2[2]);
124> cf2[4] += (fb->t2[0] = data2[4]);
125> cf2[5] += (fb->t2[1] = data2[5]);
126> cf2[6] += (fb->t2[2] = data2[6]);
127> }
1281068,1069d990
129< }
130< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
deleted file mode 100644
index ed64cba..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
+++ /dev/null
@@ -1,143 +0,0 @@
1587,598c587,593
2< /******************** breakable joint contribution ***********************/
3< // this saves us a few dereferences
4< dxJointBreakInfo *jBI = joint->breakInfo;
5< // we need joint feedback if the joint is breakable or if the user
6< // requested feedback.
7< if (jBI||fb) {
8< // we need feedback on the amount of force that this joint is
9< // applying to the bodies. we use a slightly slower computation
10< // that splits out the force components and puts them in the
11< // feedback structure.
12< dJointFeedback temp_fb; // temporary storage for joint feedback
13< dReal data1[8],data2[8];
14---
15> if (fb)
16> {
17> // the user has requested feedback on the amount of force that this
18> // joint is applying to the bodies. we use a slightly slower
19> // computation that splits out the force components and puts them
20> // in the feedback structure.
21> dReal data1[8], data2[8];
22603,608c598,603
23< cf1[0] = (temp_fb.f1[0] = data1[0]);
24< cf1[1] = (temp_fb.f1[1] = data1[1]);
25< cf1[2] = (temp_fb.f1[2] = data1[2]);
26< cf1[4] = (temp_fb.t1[0] = data1[4]);
27< cf1[5] = (temp_fb.t1[1] = data1[5]);
28< cf1[6] = (temp_fb.t1[2] = data1[6]);
29---
30> cf1[0] = (fb->f1[0] = data1[0]);
31> cf1[1] = (fb->f1[1] = data1[1]);
32> cf1[2] = (fb->f1[2] = data1[2]);
33> cf1[4] = (fb->t1[0] = data1[4]);
34> cf1[5] = (fb->t1[1] = data1[5]);
35> cf1[6] = (fb->t1[2] = data1[6]);
36614,691c609,614
37< cf2[0] = (temp_fb.f2[0] = data2[0]);
38< cf2[1] = (temp_fb.f2[1] = data2[1]);
39< cf2[2] = (temp_fb.f2[2] = data2[2]);
40< cf2[4] = (temp_fb.t2[0] = data2[4]);
41< cf2[5] = (temp_fb.t2[1] = data2[5]);
42< cf2[6] = (temp_fb.t2[2] = data2[6]);
43< }
44< // if the user requested so we must copy the feedback information to
45< // the feedback struct that the user suplied.
46< if (fb) {
47< // copy temp_fb to fb
48< fb->f1[0] = temp_fb.f1[0];
49< fb->f1[1] = temp_fb.f1[1];
50< fb->f1[2] = temp_fb.f1[2];
51< fb->t1[0] = temp_fb.t1[0];
52< fb->t1[1] = temp_fb.t1[1];
53< fb->t1[2] = temp_fb.t1[2];
54< if (body[1]) {
55< fb->f2[0] = temp_fb.f2[0];
56< fb->f2[1] = temp_fb.f2[1];
57< fb->f2[2] = temp_fb.f2[2];
58< fb->t2[0] = temp_fb.t2[0];
59< fb->t2[1] = temp_fb.t2[1];
60< fb->t2[2] = temp_fb.t2[2];
61< }
62< }
63< // if the joint is breakable we need to check the breaking conditions
64< if (jBI) {
65< dReal relCF1[3];
66< dReal relCT1[3];
67< // multiply the force and torque vectors by the rotation matrix of body 1
68< dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]);
69< dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]);
70< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
71< // check if the force is to high
72< for (int i = 0; i < 3; i++) {
73< if (relCF1[i] > jBI->b1MaxF[i]) {
74< jBI->flags |= dJOINT_BROKEN;
75< goto doneCheckingBreaks;
76< }
77< }
78< }
79< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
80< // check if the torque is to high
81< for (int i = 0; i < 3; i++) {
82< if (relCT1[i] > jBI->b1MaxT[i]) {
83< jBI->flags |= dJOINT_BROKEN;
84< goto doneCheckingBreaks;
85< }
86< }
87< }
88< if (body[1]) {
89< dReal relCF2[3];
90< dReal relCT2[3];
91< // multiply the force and torque vectors by the rotation matrix of body 2
92< dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]);
93< dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]);
94< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
95< // check if the force is to high
96< for (int i = 0; i < 3; i++) {
97< if (relCF2[i] > jBI->b2MaxF[i]) {
98< jBI->flags |= dJOINT_BROKEN;
99< goto doneCheckingBreaks;
100< }
101< }
102< }
103< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
104< // check if the torque is to high
105< for (int i = 0; i < 3; i++) {
106< if (relCT2[i] > jBI->b2MaxT[i]) {
107< jBI->flags |= dJOINT_BROKEN;
108< goto doneCheckingBreaks;
109< }
110< }
111< }
112< }
113< doneCheckingBreaks:
114< ;
115---
116> cf2[0] = (fb->f2[0] = data2[0]);
117> cf2[1] = (fb->f2[1] = data2[1]);
118> cf2[2] = (fb->f2[2] = data2[2]);
119> cf2[4] = (fb->t2[0] = data2[4]);
120> cf2[5] = (fb->t2[1] = data2[5]);
121> cf2[6] = (fb->t2[2] = data2[6]);
122694d616
123< /*************************************************************************/
1241178,1196d1099
125< /******************** breakable joint contribution ***********************/
126< dxJoint* nextJ;
127< if (!world->firstjoint)
128< nextJ = 0;
129< else
130< nextJ = (dxJoint*)world->firstjoint->next;
131< for (j=world->firstjoint; j; j=nextJ) {
132< nextJ = (dxJoint*)j->next;
133< // check if joint is breakable and broken
134< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
135< // detach (break) the joint
136< dJointAttach (j, 0, 0);
137< // call the callback function if it is set
138< if (j->breakInfo->callback) j->breakInfo->callback (j);
139< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
140< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
141< }
142< }
143< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff
deleted file mode 100644
index 65770da..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff
+++ /dev/null
@@ -1,16 +0,0 @@
1266,270d265
2<
3< // breakable joints contribution
4< dJointSetBreakable (joint[i], 1);
5< dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE);
6< dJointSetBreakForce (joint[i], 0.5);
7298c293
8< ground_box = dCreateBox (space,2,1.5,5);
9---
10> ground_box = dCreateBox (space,2,1.5,1);
11300,301c295,296
12< dRFromAxisAndAngle (R,0,1,0,-0.85);
13< dGeomSetPosition (ground_box,5,0,-1);
14---
15> dRFromAxisAndAngle (R,0,1,0,-0.15);
16> dGeomSetPosition (ground_box,2,0,-0.34);
generated by cgit v1.1 at 2025-01-04 07:26:29 +0000