Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21633/src/ODE
Modified Files:
ODEJoint.cpp
Log Message:
Corrected calculation of stress on joints.
Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** ODEJoint.cpp 4 May 2005 21:04:01 -0000 1.30
--- ODEJoint.cpp 27 Aug 2005 18:09:19 -0000 1.31
***************
*** 965,972 ****
Vec3r f2(jf->f2[0], jf->f2[1], jf->f2[2]);
Vec3r t2(jf->t2[0], jf->t2[1], jf->t2[2]);
// This is a simplification, but it should still work.
! currentStress = f1.length() + t1.length() + f2.length() +
! t2.length();
break;
}
--- 965,974 ----
Vec3r f2(jf->f2[0], jf->f2[1], jf->f2[2]);
Vec3r t2(jf->t2[0], jf->t2[1], jf->t2[2]);
+
+ f1 -= f2;
+ t1 -= t2;
// This is a simplification, but it should still work.
! currentStress = f1.length() + t1.length();
break;
}
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