From 1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:22:23 +0000 Subject: trying to fix my screwup, please hold on --- .../contrib/BreakableJoints/diff/step.cpp.diff | 130 --------------------- 1 file changed, 130 deletions(-) delete mode 100644 libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff (limited to 'libraries/ode-0.9\/contrib/BreakableJoints/diff/step.cpp.diff') 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 @@ -966,1066c966,989 -< /******************** breakable joint contribution ***********************/ -< // this saves us a few dereferences -< dxJointBreakInfo *jBI = joint[i]->breakInfo; -< // we need joint feedback if the joint is breakable or if the user -< // requested feedback. -< if (jBI||fb) { -< // we need feedback on the amount of force that this joint is -< // applying to the bodies. we use a slightly slower computation -< // that splits out the force components and puts them in the -< // feedback structure. -< dJointFeedback temp_fb; // temporary storage for joint feedback -< dReal data1[8],data2[8]; -< Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); -< dReal *cf1 = cforce + 8*b1->tag; -< cf1[0] += (temp_fb.f1[0] = data1[0]); -< cf1[1] += (temp_fb.f1[1] = data1[1]); -< cf1[2] += (temp_fb.f1[2] = data1[2]); -< cf1[4] += (temp_fb.t1[0] = data1[4]); -< cf1[5] += (temp_fb.t1[1] = data1[5]); -< cf1[6] += (temp_fb.t1[2] = data1[6]); -< if (b2) { -< Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); -< dReal *cf2 = cforce + 8*b2->tag; -< cf2[0] += (temp_fb.f2[0] = data2[0]); -< cf2[1] += (temp_fb.f2[1] = data2[1]); -< cf2[2] += (temp_fb.f2[2] = data2[2]); -< cf2[4] += (temp_fb.t2[0] = data2[4]); -< cf2[5] += (temp_fb.t2[1] = data2[5]); -< cf2[6] += (temp_fb.t2[2] = data2[6]); -< } -< // if the user requested so we must copy the feedback information to -< // the feedback struct that the user suplied. -< if (fb) { -< // copy temp_fb to fb -< fb->f1[0] = temp_fb.f1[0]; -< fb->f1[1] = temp_fb.f1[1]; -< fb->f1[2] = temp_fb.f1[2]; -< fb->t1[0] = temp_fb.t1[0]; -< fb->t1[1] = temp_fb.t1[1]; -< fb->t1[2] = temp_fb.t1[2]; -< if (b2) { -< fb->f2[0] = temp_fb.f2[0]; -< fb->f2[1] = temp_fb.f2[1]; -< fb->f2[2] = temp_fb.f2[2]; -< fb->t2[0] = temp_fb.t2[0]; -< fb->t2[1] = temp_fb.t2[1]; -< fb->t2[2] = temp_fb.t2[2]; -< } -< } -< // if the joint is breakable we need to check the breaking conditions -< if (jBI) { -< dReal relCF1[3]; -< dReal relCT1[3]; -< // multiply the force and torque vectors by the rotation matrix of body 1 -< dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); -< dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF1[i] > jBI->b1MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT1[i] > jBI->b1MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (b2) { -< dReal relCF2[3]; -< dReal relCT2[3]; -< // multiply the force and torque vectors by the rotation matrix of body 2 -< dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); -< dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF2[i] > jBI->b2MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT2[i] > jBI->b2MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< } -< doneCheckingBreaks: -< ; ---- -> if (fb) { -> // the user has requested feedback on the amount of force that this -> // joint is applying to the bodies. we use a slightly slower -> // computation that splits out the force components and puts them -> // in the feedback structure. -> dReal data1[8],data2[8]; -> Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); -> dReal *cf1 = cforce + 8*b1->tag; -> cf1[0] += (fb->f1[0] = data1[0]); -> cf1[1] += (fb->f1[1] = data1[1]); -> cf1[2] += (fb->f1[2] = data1[2]); -> cf1[4] += (fb->t1[0] = data1[4]); -> cf1[5] += (fb->t1[1] = data1[5]); -> cf1[6] += (fb->t1[2] = data1[6]); -> if (b2){ -> Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); -> dReal *cf2 = cforce + 8*b2->tag; -> cf2[0] += (fb->f2[0] = data2[0]); -> cf2[1] += (fb->f2[1] = data2[1]); -> cf2[2] += (fb->f2[2] = data2[2]); -> cf2[4] += (fb->t2[0] = data2[4]); -> cf2[5] += (fb->t2[1] = data2[5]); -> cf2[6] += (fb->t2[2] = data2[6]); -> } -1068,1069d990 -< } -< /*************************************************************************/ -- cgit v1.1