Changeset 5428 in orxonox.OLD for trunk/src/lib/collision_detection/lin_alg.h

Timestamp:

Oct 24, 2005, 7:07:00 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: fixed a bug in the CD engine

File:

• trunk/src/lib/collision_detection/lin_alg.h (modified) (2 diffs)

trunk/src/lib/collision_detection/lin_alg.h

@@ -24 +24 @@
 void JacobI(float **A,int N,float *D, float **V, int *NROT) {
 float  *B, *Z;
-double  c,g,h,s,sm,t,tau,theta,tresh;
-int     i,j,ip,iq;
-
-// void *vmblock1 = NULL;
+double  c=0.0f, g=0.0f, h=0.0f, s=0.0f, sm=0.0f, t=0.0f, tau=0.0f, theta=0.0f, tresh=0.0f;
+int     i=0,j=0,ip=0,iq=0;
 
   //allocate vectors B, Z
-  //vmblock1 = vminit();
+
   B = (float *) calloc(100, 32);
   Z = (float *) calloc(100, 32);
 
-  for (ip=1; ip<=N; ip++) {  //initialize V to identity matrix
+  for(ip=1; ip<=N; ip++) {  //initialize V to identity matrix
     for (iq=1; iq<=N; iq++)  V[ip][iq]=0;
     V[ip][ip]=1;
@@ -118 +116 @@
   } //end of main i loop
 //  printf("\n 50 iterations !\n");
+  free(B);
+  free(Z);
   return;  //too many iterations
 }