From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:48 +0000
Subject: one more for the gipper

---
 .../contrib/BreakableJoints/diff/stepfast.cpp.diff | 143 +++++++++++++++++++++
 1 file changed, 143 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff

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

diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
new file mode 100644
index 0000000..ed64cba
--- /dev/null
+++ b/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
@@ -0,0 +1,143 @@
+587,598c587,593
+< /******************** breakable joint contribution ***********************/
+< 	// this saves us a few dereferences
+<     dxJointBreakInfo *jBI = joint->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];
+---
+> 	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];
+603,608c598,603
+< 			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]);
+---
+> 			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]);
+614,691c609,614
+< 			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 (body[1]) {
+< 				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],body[0]->R,&temp_fb.f1[0]);
+< 			dMULTIPLY1_331 (&relCT1[0],body[0]->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 (body[1]) {
+< 				dReal relCF2[3];
+< 				dReal relCT2[3];
+< 				// multiply the force and torque vectors by the rotation matrix of body 2
+< 				dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]);
+< 				dMULTIPLY1_331 (&relCT2[0],body[1]->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:
+< 			;
+---
+> 			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]);
+694d616
+< /*************************************************************************/
+1178,1196d1099
+<   /******************** breakable joint contribution ***********************/
+<   dxJoint* nextJ;
+<   if (!world->firstjoint)
+<     nextJ = 0;
+<   else
+<     nextJ = (dxJoint*)world->firstjoint->next;
+<   for (j=world->firstjoint; j; j=nextJ) {
+<   	nextJ = (dxJoint*)j->next;
+< 	// check if joint is breakable and broken
+<     if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
+< 		// detach (break) the joint
+<         dJointAttach (j, 0, 0);
+< 		// call the callback function if it is set
+< 		if (j->breakInfo->callback) j->breakInfo->callback (j);
+< 		// finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
+< 		if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
+<       }
+<   }
+<   /*************************************************************************/
-- 
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