[Playerstage-commit] SF.net SVN: playerstage:[8059] code/gazebo/trunk/server/physics/Joint.cc

[<hsu...@us...>]

Revision: 8059
          http://playerstage.svn.sourceforge.net/playerstage/?rev=8059&view=rev
Author:   hsujohnhsu
Date:     2009-07-21 01:21:08 +0000 (Tue, 21 Jul 2009)

Log Message:
-----------
allow joint attaching body to world.

Modified Paths:
--------------
    code/gazebo/trunk/server/physics/Joint.cc

Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc	2009-07-20 23:47:33 UTC (rev 8058)
+++ code/gazebo/trunk/server/physics/Joint.cc	2009-07-21 01:21:08 UTC (rev 8059)
@@ -109,10 +109,10 @@
   Body *body2 = this->model->GetBody(**(this->body2NameP));
   Body *anchorBody = this->model->GetBody(**(this->anchorBodyNameP));
 
-  if (!body1)
+  if (!body1 && this->body1NameP->GetValue() != std::string("world"))
     gzthrow("Couldn't Find Body[" + node->GetString("body1","",1));
 
-  if (!body2)
+  if (!body2 && this->body2NameP->GetValue() != std::string("world"))
     gzthrow("Couldn't Find Body[" + node->GetString("body2","",1));
 
   // setting anchor relative to gazebo body frame origin


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