From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:24:38 +0000
Subject: from the start... checking in ode-0.9

---
 .../contrib/BreakableJoints/diff/joint.cpp.diff    | 148 +++++++++++++++++++++
 1 file changed, 148 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff

(limited to 'libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff')

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 @@
+2659,2804d2658
+< 
+< /******************** breakable joint contribution ***********************/
+< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
+<   dAASSERT(joint);
+<   if (b) {
+<     // we want this joint to be breakable but we must first check if it
+<     // was already breakable
+<     if (!joint->breakInfo) {
+<       // allocate a dxJointBreakInfo struct
+<       joint->breakInfo = new dxJointBreakInfo;
+<       joint->breakInfo->flags = 0;
+<       for (int i = 0; i < 3; i++) {
+<         joint->breakInfo->b1MaxF[0] = 0;
+<         joint->breakInfo->b1MaxT[0] = 0;
+<         joint->breakInfo->b2MaxF[0] = 0;
+<         joint->breakInfo->b2MaxT[0] = 0;
+<       }
+< 	  joint->breakInfo->callback = 0;
+<     }
+<     else {
+<       // the joint was already breakable
+<       return;
+<     }
+<   }
+<   else {
+<     // we want this joint to be unbreakable mut we must first check if
+<     // it is alreay unbreakable
+<     if (joint->breakInfo) {
+<       // deallocate the dxJointBreakInfo struct
+<       delete joint->breakInfo;
+<       joint->breakInfo = 0;
+<     }
+<     else {
+<       // the joint was already unbreakable
+<       return;
+<     }
+<   }
+< }
+< 
+< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<     dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
+<   }
+< # endif
+<   joint->breakInfo->callback = callbackFunc;
+< }
+< 
+< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<     dDebug (0, "dJointSetBreakMode called on unbreakable joint");
+<   }
+< # endif
+<   joint->breakInfo->flags = mode;
+< }
+< 
+< extern "C" int dJointGetBreakMode (dxJoint *joint) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<     dDebug (0, "dJointGetBreakMode called on unbreakable joint");
+<   }
+< # endif
+<   return joint->breakInfo->flags;
+< }
+< 
+< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<   dDebug (0, "dJointSetBreakForce called on unbreakable joint");
+<   }
+< # endif
+<   if (body) {
+< 	joint->breakInfo->b2MaxF[0] = x;
+< 	joint->breakInfo->b2MaxF[1] = y;
+< 	joint->breakInfo->b2MaxF[2] = z;
+<   }
+<   else {
+< 	joint->breakInfo->b1MaxF[0] = x;
+< 	joint->breakInfo->b1MaxF[1] = y;
+< 	joint->breakInfo->b1MaxF[2] = z;
+<   }
+< }
+< 
+< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<   dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
+<   }
+< # endif
+<   if (body) {
+< 	joint->breakInfo->b2MaxT[0] = x;
+< 	joint->breakInfo->b2MaxT[1] = y;
+< 	joint->breakInfo->b2MaxT[2] = z;
+<   }
+<   else {
+< 	joint->breakInfo->b1MaxT[0] = x;
+< 	joint->breakInfo->b1MaxT[1] = y;
+< 	joint->breakInfo->b1MaxT[2] = z;
+<   }
+< }
+< 
+< extern "C" int dJointIsBreakable (dxJoint *joint) {
+<   dAASSERT(joint);
+<   return joint->breakInfo != 0;
+< }
+< 
+< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<     dDebug (0, "dJointGetBreakForce called on unbreakable joint");
+<   }
+< # endif
+<   if (body)
+<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
+<   else
+<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
+< }
+< 
+< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
+<   dAASSERT(joint);
+< # ifndef dNODEBUG
+<   // only works for a breakable joint
+<   if (!joint->breakInfo) {
+<     dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
+<   }
+< # endif
+<   if (body)
+<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
+<   else
+<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
+< }
+< /*************************************************************************/
+<   
+\ No newline at end of file
-- 
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