[Opal-commits] opal/src Joint.cpp,1.30,1.31 Joint.h,1.68,1.69 OpalMath.h,1.12,1.13

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9112/src

Modified Files:
	Joint.cpp Joint.h OpalMath.h 
Log Message:
Fixed bug in Joint class that crashed when applying a force/torque to a Joint connected to a single Solid.

Index: OpalMath.h
===================================================================
RCS file: /cvsroot/opal/opal/src/OpalMath.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** OpalMath.h	27 Apr 2005 02:28:18 -0000	1.12
--- OpalMath.h	2 May 2005 16:40:59 -0000	1.13
***************
*** 67,70 ****
--- 67,72 ----
  	/// by the magnitudes of the values) tolerance, depending on whether 
  	/// both values are both less than 1.
+ 	/// See Christer Ericson's GDC 2005 presentation: 
+ 	/// http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt
  	inline bool areEqual(real x, real y)
  	{

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.68
retrieving revision 1.69
diff -C2 -d -r1.68 -r1.69
*** Joint.h	18 Apr 2005 22:21:03 -0000	1.68
--- Joint.h	2 May 2005 16:40:59 -0000	1.69
***************
*** 154,163 ****
  		virtual real OPAL_CALL getVelocity(int axisNum)const = 0;
  
! 		/// Applies a force to this Joint's Solids.  To be used for 
! 		/// translational axes.  This does nothing if the Joint is disabled.
  		virtual void OPAL_CALL addForce(int axisNum, real magnitude, 
  			real duration, bool singleStep=false);
  
! 		/// Applies a torque to this Joint's Solids.  To be used for 
  		/// rotational Joints. This does nothing if the Joint is disabled.
  		virtual void OPAL_CALL addTorque(int axisNum, real magnitude, 
--- 154,163 ----
  		virtual real OPAL_CALL getVelocity(int axisNum)const = 0;
  
! 		/// Applies a force to this Joint's Solid(s).  To be used for 
! 		/// translational axes.  This does nothing if the Joint is disabled.  
  		virtual void OPAL_CALL addForce(int axisNum, real magnitude, 
  			real duration, bool singleStep=false);
  
! 		/// Applies a torque to this Joint's Solid(s).  To be used for 
  		/// rotational Joints. This does nothing if the Joint is disabled.
  		virtual void OPAL_CALL addTorque(int axisNum, real magnitude, 

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** Joint.cpp	18 Apr 2005 22:21:03 -0000	1.30
--- Joint.cpp	2 May 2005 16:40:59 -0000	1.31
***************
*** 210,216 ****
  			f.vec = magnitude * direction;
  
! 			mData.solid0->addForce(f);
  			f.vec *= (real)-1.0;
! 			mData.solid1->addForce(f);
  		}
  	}
--- 210,224 ----
  			f.vec = magnitude * direction;
  
! 			if (mData.solid0)
! 			{
! 				mData.solid0->addForce(f);
! 			}
! 
  			f.vec *= (real)-1.0;
! 
! 			if (mData.solid1)
! 			{
! 				mData.solid1->addForce(f);
! 			}
  		}
  	}
***************
*** 237,243 ****
  			f.vec = magnitude * axis;
  
! 			mData.solid0->addForce(f);
  			f.vec *= (real)-1.0;
! 			mData.solid1->addForce(f);
  		}
  	}
--- 245,259 ----
  			f.vec = magnitude * axis;
  
! 			if (mData.solid0)
! 			{
! 				mData.solid0->addForce(f);
! 			}
! 
  			f.vec *= (real)-1.0;
! 
! 			if (mData.solid1)
! 			{
! 				mData.solid1->addForce(f);
! 			}
  		}
  	}