Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1968/src/ODE
Modified Files:
ODESimulator.cpp
Log Message:
added a Simulator option to set the max physical contacts generated
Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.99
retrieving revision 1.100
diff -C2 -d -r1.99 -r1.100
*** ODESimulator.cpp 12 Apr 2005 21:23:45 -0000 1.99
--- ODESimulator.cpp 14 Apr 2005 09:15:07 -0000 1.100
***************
*** 430,437 ****
dJointGroupID theJointGroupID =
sim->internal_getJointGroupID();
! dContactGeom contactArray[defaults::ode::maxContactPoints];
! int numContacts = dCollide(o0, o1,
! defaults::ode::maxContactPoints, contactArray,
! sizeof(dContactGeom));
// If the two objects didn't make any contacts, they weren't
--- 430,436 ----
dJointGroupID theJointGroupID =
sim->internal_getJointGroupID();
! dContactGeom contactArray[globals::maxMaxContacts];
! int numContacts = dCollide(o0, o1, sim->getMaxContacts(),
! contactArray, sizeof(dContactGeom));
// If the two objects didn't make any contacts, they weren't
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