966,1066c966,989
< /******************** breakable joint contribution ***********************/
<     // this saves us a few dereferences
<     dxJointBreakInfo *jBI = joint[i]->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];
< 	  Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
< 	  dReal *cf1 = cforce + 8*b1->tag;
< 	  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]);
< 	  if (b2) {
< 	    Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
< 	    dReal *cf2 = cforce + 8*b2->tag;
< 	    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 (b2) {
< 	      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],b1->R,&temp_fb.f1[0]);
< 		dMULTIPLY1_331 (&relCT1[0],b1->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 (b2) {
<           dReal relCF2[3];
<           dReal relCT2[3];
<           // multiply the force and torque vectors by the rotation matrix of body 2
<           dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]);
<           dMULTIPLY1_331 (&relCT2[0],b2->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:
< 		;
---
>       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];
> 	Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
> 	dReal *cf1 = cforce + 8*b1->tag;
> 	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]);
> 	if (b2){
> 	  Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
> 	  dReal *cf2 = cforce + 8*b2->tag;
> 	  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]);
> 	}
1068,1069d990
<     }
< /*************************************************************************/