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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
|
