source: code/branches/ode/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff @ 216

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< /******************** 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]);
>       }
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<     }
< /*************************************************************************/