149 lines
4.2 KiB
Diff
149 lines
4.2 KiB
Diff
2659,2804d2658
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<
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< /******************** breakable joint contribution ***********************/
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< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
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< dAASSERT(joint);
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< if (b) {
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< // we want this joint to be breakable but we must first check if it
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< // was already breakable
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< if (!joint->breakInfo) {
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< // allocate a dxJointBreakInfo struct
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< joint->breakInfo = new dxJointBreakInfo;
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< joint->breakInfo->flags = 0;
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< for (int i = 0; i < 3; i++) {
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< joint->breakInfo->b1MaxF[0] = 0;
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< joint->breakInfo->b1MaxT[0] = 0;
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< joint->breakInfo->b2MaxF[0] = 0;
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< joint->breakInfo->b2MaxT[0] = 0;
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< }
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< joint->breakInfo->callback = 0;
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< }
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< else {
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< // the joint was already breakable
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< return;
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< }
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< }
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< else {
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< // we want this joint to be unbreakable mut we must first check if
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< // it is alreay unbreakable
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< if (joint->breakInfo) {
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< // deallocate the dxJointBreakInfo struct
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< delete joint->breakInfo;
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< joint->breakInfo = 0;
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< }
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< else {
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< // the joint was already unbreakable
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< return;
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< }
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< }
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< }
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<
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< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
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< }
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< # endif
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< joint->breakInfo->callback = callbackFunc;
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< }
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<
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< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointSetBreakMode called on unbreakable joint");
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< }
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< # endif
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< joint->breakInfo->flags = mode;
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< }
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<
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< extern "C" int dJointGetBreakMode (dxJoint *joint) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointGetBreakMode called on unbreakable joint");
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< }
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< # endif
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< return joint->breakInfo->flags;
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< }
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<
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< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointSetBreakForce called on unbreakable joint");
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< }
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< # endif
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< if (body) {
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< joint->breakInfo->b2MaxF[0] = x;
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< joint->breakInfo->b2MaxF[1] = y;
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< joint->breakInfo->b2MaxF[2] = z;
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< }
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< else {
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< joint->breakInfo->b1MaxF[0] = x;
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< joint->breakInfo->b1MaxF[1] = y;
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< joint->breakInfo->b1MaxF[2] = z;
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< }
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< }
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<
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< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
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< }
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< # endif
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< if (body) {
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< joint->breakInfo->b2MaxT[0] = x;
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< joint->breakInfo->b2MaxT[1] = y;
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< joint->breakInfo->b2MaxT[2] = z;
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< }
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< else {
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< joint->breakInfo->b1MaxT[0] = x;
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< joint->breakInfo->b1MaxT[1] = y;
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< joint->breakInfo->b1MaxT[2] = z;
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< }
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< }
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<
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< extern "C" int dJointIsBreakable (dxJoint *joint) {
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< dAASSERT(joint);
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< return joint->breakInfo != 0;
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< }
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<
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< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointGetBreakForce called on unbreakable joint");
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< }
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< # endif
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< if (body)
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< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
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< else
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< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
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< }
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<
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< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
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< dAASSERT(joint);
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< # ifndef dNODEBUG
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< // only works for a breakable joint
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< if (!joint->breakInfo) {
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< dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
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< }
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< # endif
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< if (body)
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< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
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< else
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< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
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< }
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< /*************************************************************************/
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<
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\ No newline at end of file
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