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-Breakable Joints
-
-================================================================================
-
-Description:
-This is a small addition to ODE that makes joints breakable. Breakable means
-that if a force on a joint is to high it wil break. I have included a modified
-version of test_buggy.cpp (test_breakable.cpp) so you can see it for your self.
-Just drive your buggy into an obstacle and enjoy!
-
-================================================================================
-
-Installation instructions:
-- copy joint.h, joint.cpp, ode.cpp and step.cpp to the ode/src/ directory
-- copy common.h and object.h to the include/ directory
-- copy test_breakable.cpp to the ode/test/ directory
-- add test_breakable.cpp to the ODE_TEST_SRC_CPP object in the makefile.
-- make ode-lib
-- make ode-test
-You can also use the diffs. The above files will quickly go out of sync with the
-rest of ODE but the diffs wil remain valid longer.
-
-================================================================================
-
-Functions:
-dJointSetBreakable (dJointID joint, int b)
-        If b is 1 the joint is made breakable. If b is 0 the joint is made
-        unbreakable.
-
-void dJointSetBreakCallback (dJointID joint, dJointBreakCallback *callbackFunc)
-        Sets the callback function for this joint. If a funtion is set it will be
-        called if the joint is broken but before it is actually detached or deleted.
-
-void dJointSetBreakMode (dJointID joint, int mode)
-        Use this functions to set some flags. These flags can be ORred ( | )
-        together; ie. dJointSetBreakMode (someJoint,
-dJOINT_BREAK_AT_B1_FORCE|dJOINT_DELETE_ON_BREAK)
-        dJOINT_DELETE_ON_BREAK    - If the joint breaks it wil be deleted.
-        dJOINT_BREAK_AT_B1_FORCE  - If the force on body 1 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B1_TORQUE - If the torque on body 1 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B2_FORCE  - If the force on body 2 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B2_TORQUE - If the torque on body 2 is to high the joint will
-                                                                break
-
-void dJointSetBreakForce (dJointID joint, int body, dReal x, dReal y, dReal z)
-        With this function you can set the maximum force for a body connected to this
-        joint. A value of 0 for body means body 1, 1 means body 2. The force is 
-        relative to the bodies rotation.
-
-void dJointSetBreakTorque (dJointID joint, int body, dReal x, dReal y, dReal z)
-        With this function you can set the maximum torque for a body connected to this
-        joint. A value of 0 for body means body 1, 1 means body 2. The torque is 
-        relative to the bodies rotation.
-
-int dJointIsBreakable (dJointID joint)
-        Returns 1 if this joint is breakable, 0 otherwise.
-        
-int dJointGetBreakMode (dJointID joint)
-        Returns the breakmode flag.
-
-void dJointGetBreakForce (dJointID joint, int body, dReal *force)
-        Returns the force at what this joint will break. A value of 0 for body means
-        body 1, 1 means body 2. force must have enough space for 3 dReal values.
-
-void dJointGetBreakTorque (dJointID joint, int body, dReal *torque)
-        Returns the torque at what this joint will break. A value of 0 for body 
-        means body 1, 1 means body 2. force must have enough space for 3 dReal 
-        values.
-
-================================================================================
-
-The callback function is defined like this (in common.h):
-void dJointBreakCallback (dJointID);
-
-================================================================================
-
-Problems, known bugs & other issues:
-- If the timestep is very small then joints get a lot weaker. They can even fall
-  apart!
-- I have tested all this with the latest checkout from CVS (at the time of 
-  writing ofcourse). I haven't tested it with earlier versions of ODE.
-- I have modified the code that fills the jointfeedback struct. I haven't tested
-  if it still works.
-- I'm not sure if the forces are really relative to the connected bodies.
-- There are some memory leaks in the test_breakable.cpp example.
-
-================================================================================
-
-Bugfixes and changes:
-09/08/2003
-- I fixed a bug when there where 0 joints in the simulation
-
-06/12/2003
-- dJointGetBreakMode() added, by vadim_mcagon@hotmail.com
-
-11/03/2004
-- Updated files to work with latest CVS checkout. 
-- Added support for dWorldStepFast1()
-- Added separate test_breakable.cpp example.
-- Updated the code that breaks and destroys a joint.
-
-================================================================================
-
-Send me an e-mail if you have any suggestions, ideas, bugs, bug-fixes, anything!
-e-mail: roelvandijk@home.nl
-
-Roel van Dijk - 11/03/2004