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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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