opal-commits

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3972/src

Modified Files:
	Joint.cpp Joint.h JointData.h Makefile.am Makefile.in 
	Quaternion.h testsolid.cpp 
Added Files:
	testFixedJoint.cpp testJoint.cpp 
Log Message:
Implemented features to track Joint damage.


--- NEW FILE: testFixedJoint.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testFixedJoint
{
    class Fixture
    {
        public:
            Fixture()
            {
                sim = createSimulator();
                sim->setGravity( Vec3r( 0, 0, 0 ) );

                s1 = sim->createSolid();
                s2 = sim->createSolid();
                s1->setPosition( Point3r( 0, 0, 0 ) );
                s2->setPosition( Point3r( 0, 10, 0 ) );

                j = sim->createJoint();
            }

            ~Fixture()
            {
                sim->destroy();
            }

            Simulator * sim;
            Solid * s1;
            Solid * s2;
            Joint * j;
    };

    QT_TEST( no_shapes )
    {
        Fixture f;

        JointData jdata;
        jdata.setType( FIXED_JOINT );
        jdata.solid0 = f.s1;
        jdata.solid1 = f.s2;
        f.j->init( jdata );

        f.sim->simulate( 1 );

        QT_CHECK_CLOSE( f.s1->getPosition().x, 0 );
        QT_CHECK_CLOSE( f.s1->getPosition().y, 0 );
        QT_CHECK_CLOSE( f.s1->getPosition().z, 0 );

        QT_CHECK_CLOSE( f.s2->getPosition().x, 0 );
        QT_CHECK_CLOSE( f.s2->getPosition().y, 10 );
        QT_CHECK_CLOSE( f.s2->getPosition().z, 0 );
    }
    
    QT_TEST( with_shapes )
    {
        Fixture f;

        SphereShapeData data;
        data.radius = 1;
        f.s1->addShape( data );
        f.s2->addShape( data );

        JointData jdata;
        jdata.setType( FIXED_JOINT );
        jdata.solid0 = f.s1;
        jdata.solid1 = f.s2;
        f.j->init( jdata );

        f.sim->simulate( 1 );

        QT_CHECK_CLOSE( f.s1->getPosition().x, 0 );
        QT_CHECK_CLOSE( f.s1->getPosition().y, 0 );
        QT_CHECK_CLOSE( f.s1->getPosition().z, 0 );

        QT_CHECK_CLOSE( f.s2->getPosition().x, 0 );
        QT_CHECK_CLOSE( f.s2->getPosition().y, 10 );
        QT_CHECK_CLOSE( f.s2->getPosition().z, 0 );
    }
}

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Makefile.in	10 Dec 2005 05:18:35 -0000	1.10
--- Makefile.in	10 Dec 2005 22:41:06 -0000	1.11
***************
*** 73,77 ****
  	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT) \
  	testMatrix44r.$(OBJEXT) testBlueprint.$(OBJEXT) \
! 	testMath.$(OBJEXT) testVelocityMotor.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 73,78 ----
  	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT) \
  	testMatrix44r.$(OBJEXT) testBlueprint.$(OBJEXT) \
! 	testMath.$(OBJEXT) testVelocityMotor.$(OBJEXT) \
! 	testFixedJoint.$(OBJEXT) testJoint.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 215,220 ****
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 							testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 			testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
--- 216,222 ----
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 									testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 					testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp testFixedJoint.cpp \
! 	testJoint.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
***************
*** 326,329 ****
--- 328,333 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testBlueprint.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testFixedJoint.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testJoint.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testMath.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testMatrix44r.Po@am__quote@

--- NEW FILE: testJoint.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

//! Testing generic Joint stuff
namespace testJoint
{
    QT_TEST( break_settings )
    {
        Simulator * sim = createSimulator();
        Joint * j = sim->createJoint();
        JointData data;
        j->init( data );

        QT_CHECK_EQUAL( j->getBreakingMode(), UNBREAKABLE_MODE );

        sim->destroy();
    }

    QT_TEST( breaking_threshhold )
    {
        Simulator * sim = createSimulator();
        
        Solid * s0 = sim->createSolid();
        s0->setPosition( 0, 0, 0 );
        Solid * s1 = sim->createSolid();
        s1->setPosition( 0, 0, 10 );
        {
            SphereShapeData data;
            data.radius = 1;
            s0->addShape( data );
            s1->addShape( data );
        }

        Joint * j = sim->createJoint();
        {
            JointData data;
            data.setType( FIXED_JOINT );
            data.breakMode = THRESHOLD_MODE;
            data.breakThresh = 100;
            data.solid0 = s0;
            data.solid1 = s1;
            j->init( data );
        }

        sim->simulate( 1 );
        QT_CHECK_EQUAL( j->isBroken(), false );

        // apply a force that breaks the joint
        {
            Force f;
            f.type = GLOBAL_FORCE;
            f.duration = 1;
            f.singleStep = false;
            f.pos = Point3r( 0, 0, 0 );
            f.vec = Vec3r( 0, 0, 100 );
            s1->addForce( f );
        }

        sim->simulate( 1 );
        QT_CHECK_EQUAL( j->isBroken(), true );

        sim->destroy();
    }
}

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** testsolid.cpp	1 Dec 2005 23:55:21 -0000	1.7
--- testsolid.cpp	10 Dec 2005 22:41:06 -0000	1.8
***************
*** 231,241 ****
          QT_CHECK_EQUAL( q, f.s->getQuaternion() );
  
! 		q.set( 1, 0, 0, 0 );
! 		f.s->setQuaternion( q );
! 		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
  
! 		q.set( 0, 0, 0, 1 );
! 		f.s->setQuaternion( q );
! 		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
      }
  }
--- 231,252 ----
          QT_CHECK_EQUAL( q, f.s->getQuaternion() );
  
!         q.set( 1, 0, 0, 0 );
!         f.s->setQuaternion( q );
!         QT_CHECK_EQUAL( q, f.s->getQuaternion() );
  
!         q.set( 0, 0, 0, 1 );
!         f.s->setQuaternion( q );
!         QT_CHECK_EQUAL( q, f.s->getQuaternion() );
!     }
! 
!     QT_TEST( capsule_ODE_crash )
!     {
!         SolidFixture f;
!         CapsuleShapeData data;
!         data.length = 70;
!         data.radius = 10;
!         f.s->addShape( data );
! 
!         f.sim->simulate( 1 );
      }
  }

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Makefile.am	10 Dec 2005 05:18:35 -0000	1.10
--- Makefile.am	10 Dec 2005 22:41:06 -0000	1.11
***************
*** 15,20 ****
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 							testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 			testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
--- 15,21 ----
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 									testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 					testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp testFixedJoint.cpp \
! 	testJoint.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.32
retrieving revision 1.33
diff -C2 -d -r1.32 -r1.33
*** Joint.cpp	4 May 2005 21:04:00 -0000	1.32
--- Joint.cpp	10 Dec 2005 22:41:06 -0000	1.33
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * This library is distributed in the hope that it will be useful,       *
!  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
!  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #include "Joint.h"
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * This library is distributed in the hope that it will be useful,       *
! * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #include "Joint.h"
***************
*** 31,393 ****
  namespace opal
  {
! 	Joint::Joint()
! 	{
! 		// "mData" is initialized in its own constructor.
! 		setJointBreakEventHandler(NULL);
! 		setUserData(NULL);
! 		mInitCalled = false;
! 		mNumAxes = 0;
! 		mAxisRotational[0] = false;
! 		mAxisRotational[1] = false;
! 		mAxisRotational[2] = false;
! 	}
  
! 	Joint::~Joint()
! 	{
! 	}
  
! 	void Joint::internal_destroy()
! 	{
! 		delete this;
! 	}
  
! 	void Joint::init(const JointData& data)
! 	{
! 		mData = data;
! 	}
  
! 	const JointData& Joint::getData()
! 	{
! 		// Update parameters that don't get updated automatically.
! 		for (int i=0; i<mNumAxes; ++i)
! 		{
! 			mData.axis[i] = getAxis(i);
! 		}
  
! 		mData.anchor = getAnchor();
  
! 		return mData;
! 	}
  
! 	void Joint::setName(const std::string& name)
! 	{
! 		mData.name = name;
! 	}
  
! 	const std::string& Joint::getName()const
! 	{
! 		return mData.name;
! 	}
  
! 	void Joint::setContactsEnabled(bool e)
! 	{
! 		mData.contactsEnabled = e;
! 	}
  
! 	bool Joint::areContactsEnabled()const
! 	{
! 		return mData.contactsEnabled;
! 	}
  
! 	JointType Joint::getType()const
! 	{
! 		return mData.getType();
! 	}
  
! 	void Joint::setBreakParams(JointBreakMode mode, real breakThresh, 
! 		real accumThresh)
! 	{
! 		mData.breakMode = mode;
! 		mData.breakThresh = breakThresh;
! 		mData.accumThresh = accumThresh;
! 	}
  
! 	void Joint::repairAccumDamage()
! 	{
! 		mData.accumDamage = 0;
! 		//mIsBroken = false;
! 	}
  
! 	//bool Joint::internal_isBroken()
! 	//{
! 	//	return mIsBroken;
! 	//}
  
! 	void Joint::setJointBreakEventHandler(
! 		JointBreakEventHandler* eventHandler)
! 	{
! 		mJointBreakEventHandler = eventHandler;
! 	}
  
! 	JointBreakEventHandler* Joint::getJointBreakEventHandler()const
! 	{
! 		return mJointBreakEventHandler;
! 	}
  
! 	void Joint::setLimitsEnabled(int axisNum, bool e)
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		mData.axis[axisNum].limitsEnabled = e;
! 	}
  
! 	bool Joint::areLimitsEnabled(int axisNum)
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mData.axis[axisNum].limitsEnabled;
! 	}
  
! 	//void Joint::setLimits(int axisNum, JointLimits l)
! 	//{
! 	//	assert(axisNum >= 0 && axisNum < mNumAxes);
! 	//	assert(l.bounciness >= 0 && l.bounciness <= 1);
! 	//	assert(l.hardness >= 0 && l.hardness <= 1);
! 	//	mData.axis[axisNum].limits = l;
! 	//}
  
! 	//const Joint::JointLimits& getLimits(int axisNum)const
! 	//{
! 	//	assert(axisNum >= 0 && axisNum < mNumAxes);
! 	//	return mData.axis[axisNum].limits;
! 	//}
  
! 	void Joint::setLimitRange(int axisNum, real low, real high)
! 	{
! 		assert(high >= low);
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		mData.axis[axisNum].limits.low = low;
! 		mData.axis[axisNum].limits.high = high;
! 	}
  
! 	real Joint::getLowLimit(int axisNum)const
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mData.axis[axisNum].limits.low;
! 	}
  
! 	real Joint::getHighLimit(int axisNum)const
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mData.axis[axisNum].limits.high;
! 	}
  
! 	void Joint::setLimitHardness(int axisNum, real h)
! 	{
! 		assert(h >= 0 && h <= 1);
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		mData.axis[axisNum].limits.hardness = h;
! 	}
  
! 	real Joint::getLimitHardness(int axisNum)const
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mData.axis[axisNum].limits.hardness;
! 	}
  
! 	void Joint::setLimitBounciness(int axisNum, real b)
! 	{
! 		assert(b >= 0 && b <= 1);
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		mData.axis[axisNum].limits.bounciness = b;
! 	}
  
! 	real Joint::getLimitBounciness(int axisNum)const
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mData.axis[axisNum].limits.bounciness;
! 	}
  
! 	void Joint::addForce(int axisNum, real magnitude, real duration, 
! 		bool singleStep)
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
  
! 		if (mData.enabled)
! 		{
! 			Force f;
! 			f.singleStep = singleStep;
  
! 			// We only care about the duration if this is not a single-step 
! 			// force.
! 			if (!f.singleStep)
! 			{
! 				f.duration = duration;
! 			}
  
! 			f.type = LOCAL_FORCE;
! 			Vec3r direction = mData.axis[axisNum].direction;
! 			f.vec = magnitude * direction;
  
! 			if (mData.solid0)
! 			{
! 				mData.solid0->addForce(f);
! 			}
  
! 			f.vec *= (real)-1.0;
  
! 			if (mData.solid1)
! 			{
! 				mData.solid1->addForce(f);
! 			}
! 		}
! 	}
  
! 	void Joint::addTorque(int axisNum, real magnitude, real duration, 
! 		bool singleStep)
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
  
! 		if (mData.enabled)
! 		{
! 			Force f;
! 			f.singleStep = singleStep;
  
! 			// We only care about the duration if this is not a single-step 
! 			// force.
! 			if (!f.singleStep)
! 			{
! 				f.duration = duration;
! 			}
  
! 			f.type = LOCAL_TORQUE;
! 			Vec3r axis = mData.axis[axisNum].direction;
! 			f.vec = magnitude * axis;
  
! 			if (mData.solid0)
! 			{
! 				mData.solid0->addForce(f);
! 			}
  
! 			f.vec *= (real)-1.0;
  
! 			if (mData.solid1)
! 			{
! 				mData.solid1->addForce(f);
! 			}
! 		}
! 	}
  
! 	void Joint::wakeSolids()
! 	{
! 		mData.solid0->setSleeping(false);
! 		mData.solid1->setSleeping(false);
! 	}
  
! 	void Joint::setSolids(Solid* s0, Solid* s1)
! 	{
! 		mData.solid0 = s0;
! 		mData.solid1 = s1;
! 	}
  
! 	Solid* Joint::getSolid0()const
! 	{
! 		return mData.solid0;
! 	}
  
! 	Solid* Joint::getSolid1()const
! 	{
! 		return mData.solid1;
! 	}
  
! 	void Joint::setAxis(int axisNum, const JointAxis& axis)
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		mData.axis[axisNum] = axis;
! 	}
  
! 	int Joint::getNumAxes()const
! 	{
! 		return mNumAxes;
! 	}
  
! 	void Joint::setAnchor(const Point3r& anchor)
! 	{
! 		mData.anchor = anchor;
! 	}
  
! 	bool Joint::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
  
! 	void Joint::setEnabled(bool e)
! 	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
! 		mData.enabled = e;
! 	}
  
! 	bool Joint::isRotational(int axisNum)const
! 	{
! 		assert(axisNum >= 0 && axisNum < mNumAxes);
! 		return mAxisRotational[axisNum];
! 	}
  
! 	void Joint::setUserData(void* data)
! 	{
! 		mUserData = data;
! 	}
  
! 	void* Joint::getUserData()
! 	{
! 		return mUserData;
! 	}
  
! 	bool Joint::internal_dependsOnSolid(Solid* s)
! 	{
! 		if (s == mData.solid0 || s == mData.solid1)
! 		{
! 			return true;
! 		}
! 		else
! 		{
! 			return false;
! 		}
! 	}
  
! 	void Joint::updateDamage(real currentStress)
! 	{
! 		bool isBroken = false;
  
! 		switch(mData.breakMode)
! 		{
! 			case UNBREAKABLE_MODE:
! 				//nothing to do
! 				break;
! 			case THRESHOLD_MODE:
! 			{
! 				if (currentStress >= mData.breakThresh)
! 				{
! 					isBroken = true;
! 				}
! 				break;
! 			}
! 			case ACCUMULATED_MODE:
! 			{
! 				if (currentStress >= mData.accumThresh)
! 				{
! 					mData.accumDamage += currentStress;
! 				}
  
! 				if (mData.accumDamage >= mData.breakThresh)
! 				{
! 					isBroken = true;
! 				}
! 				break;
! 			}
! 			default:
! 				assert(false);
! 		}
  
! 		if (isBroken)
! 		{
! 			setEnabled(false);
! 			if (mJointBreakEventHandler)
! 			{
! 				mJointBreakEventHandler->handleJointBreakEvent(this);
! 			}
! 		}
! 	}
  }
--- 31,415 ----
  namespace opal
  {
!     Joint::Joint()
!     {
!         // "mData" is initialized in its own constructor.
!         setJointBreakEventHandler( NULL );
!         setUserData( NULL );
!         mInitCalled = false;
!         mNumAxes = 0;
!         mAxisRotational[ 0 ] = false;
!         mAxisRotational[ 1 ] = false;
!         mAxisRotational[ 2 ] = false;
!     }
  
!     Joint::~Joint()
!     {}
  
!     void Joint::internal_destroy()
!     {
!         delete this;
!     }
  
!     void Joint::init( const JointData& data )
!     {
!         mData = data;
!     }
  
!     const JointData& Joint::getData()
!     {
!         // Update parameters that don't get updated automatically.
!         for ( int i = 0; i < mNumAxes; ++i )
!         {
!             mData.axis[ i ] = getAxis( i );
!         }
  
!         mData.anchor = getAnchor();
  
!         return mData;
!     }
  
!     void Joint::setName( const std::string& name )
!     {
!         mData.name = name;
!     }
  
!     const std::string& Joint::getName() const
!     {
!         return mData.name;
!     }
  
!     void Joint::setContactsEnabled( bool e )
!     {
!         mData.contactsEnabled = e;
!     }
  
!     bool Joint::areContactsEnabled() const
!     {
!         return mData.contactsEnabled;
!     }
  
!     JointType Joint::getType() const
!     {
!         return mData.getType();
!     }
  
!     void Joint::setBreakParams( JointBreakMode mode, real breakThresh,
!                                 real accumThresh )
!     {
!         mData.breakMode = mode;
!         mData.breakThresh = breakThresh;
!         mData.accumThresh = accumThresh;
!     }
  
!     bool Joint::isBroken() const
!     {
!         return mData.isBroken;
!     }
  
!     JointBreakMode Joint::getBreakingMode() const
!     {
!         return mData.breakMode;
!     }
  
!     real Joint::getBreakThresh() const
!     {
!         return mData.breakThresh;
!     }
  
!     real Joint::getAccumulatedDamage() const
!     {
!         return mData.accumDamage;
!     }
  
!     real Joint::getAccumulatedThresh() const
!     {
!         return mData.accumThresh;
!     }
  
!     void Joint::repairAccumDamage()
!     {
!         mData.accumDamage = 0;
!         //mIsBroken = false;
!     }
  
!     //bool Joint::internal_isBroken()
!     //{
!     //	return mIsBroken;
!     //}
  
!     void Joint::setJointBreakEventHandler(
!         JointBreakEventHandler* eventHandler )
!     {
!         mJointBreakEventHandler = eventHandler;
!     }
  
!     JointBreakEventHandler* Joint::getJointBreakEventHandler() const
!     {
!         return mJointBreakEventHandler;
!     }
  
!     void Joint::setLimitsEnabled( int axisNum, bool e )
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         mData.axis[ axisNum ].limitsEnabled = e;
!     }
  
!     bool Joint::areLimitsEnabled( int axisNum )
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         return mData.axis[ axisNum ].limitsEnabled;
!     }
  
!     //void Joint::setLimits(int axisNum, JointLimits l)
!     //{
!     //	assert(axisNum >= 0 && axisNum < mNumAxes);
!     //	assert(l.bounciness >= 0 && l.bounciness <= 1);
!     //	assert(l.hardness >= 0 && l.hardness <= 1);
!     //	mData.axis[axisNum].limits = l;
!     //}
  
!     //const Joint::JointLimits& getLimits(int axisNum)const
!     //{
!     //	assert(axisNum >= 0 && axisNum < mNumAxes);
!     //	return mData.axis[axisNum].limits;
!     //}
  
!     void Joint::setLimitRange( int axisNum, real low, real high )
!     {
!         assert( high >= low );
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         mData.axis[ axisNum ].limits.low = low;
!         mData.axis[ axisNum ].limits.high = high;
!     }
  
!     real Joint::getLowLimit( int axisNum ) const
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         return mData.axis[ axisNum ].limits.low;
!     }
  
!     real Joint::getHighLimit( int axisNum ) const
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         return mData.axis[ axisNum ].limits.high;
!     }
  
!     void Joint::setLimitHardness( int axisNum, real h )
!     {
!         assert( h >= 0 && h <= 1 );
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         mData.axis[ axisNum ].limits.hardness = h;
!     }
  
!     real Joint::getLimitHardness( int axisNum ) const
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         return mData.axis[ axisNum ].limits.hardness;
!     }
  
!     void Joint::setLimitBounciness( int axisNum, real b )
!     {
!         assert( b >= 0 && b <= 1 );
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         mData.axis[ axisNum ].limits.bounciness = b;
!     }
  
!     real Joint::getLimitBounciness( int axisNum ) const
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
!         return mData.axis[ axisNum ].limits.bounciness;
!     }
  
!     void Joint::addForce( int axisNum, real magnitude, real duration,
!                           bool singleStep )
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
  
!         if ( mData.enabled )
!         {
!             Force f;
!             f.singleStep = singleStep;
  
!             // We only care about the duration if this is not a single-step
!             // force.
!             if ( !f.singleStep )
!             {
!                 f.duration = duration;
!             }
  
!             f.type = LOCAL_FORCE;
!             Vec3r direction = mData.axis[ axisNum ].direction;
!             f.vec = magnitude * direction;
  
!             if ( mData.solid0 )
!             {
!                 mData.solid0->addForce( f );
!             }
  
!             f.vec *= ( real ) - 1.0;
  
!             if ( mData.solid1 )
!             {
!                 mData.solid1->addForce( f );
!             }
!         }
!     }
  
!     void Joint::addTorque( int axisNum, real magnitude, real duration,
!                            bool singleStep )
!     {
!         assert( axisNum >= 0 && axisNum < mNumAxes );
  
!         if ( mData.enabled )
!         {
!             Force f;
!             f....
 
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