[Personalrobots-commit] SF.net SVN: personalrobots:[12520] pkg/trunk

[<is...@us...>]

Revision: 12520
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12520&view=rev
Author:   isucan
Date:     2009-03-14 21:22:28 +0000 (Sat, 14 Mar 2009)

Log Message:
-----------
using new initialization option from ODE (recursive initialization is possible)

Modified Paths:
--------------
    pkg/trunk/3rdparty/opende/Makefile
    pkg/trunk/world_models/collision_space/include/collision_space/environmentODE.h

Modified: pkg/trunk/3rdparty/opende/Makefile
===================================================================
--- pkg/trunk/3rdparty/opende/Makefile	2009-03-14 02:31:59 UTC (rev 12519)
+++ pkg/trunk/3rdparty/opende/Makefile	2009-03-14 21:22:28 UTC (rev 12520)
@@ -2,7 +2,7 @@
 WITH_DRAWSTUFF = yes
 
 CFG_OPTIONS = --with-arch=nocona --enable-release --disable-asserts --with-pic #--enable-double-precision
-SVN_REVISION = -r 1657
+SVN_REVISION = -r 1658
 
 SVN_PATCH = opende_patch.diff
 

Modified: pkg/trunk/world_models/collision_space/include/collision_space/environmentODE.h
===================================================================
--- pkg/trunk/world_models/collision_space/include/collision_space/environmentODE.h	2009-03-14 02:31:59 UTC (rev 12519)
+++ pkg/trunk/world_models/collision_space/include/collision_space/environmentODE.h	2009-03-14 21:22:28 UTC (rev 12520)
@@ -51,16 +51,9 @@
     {
     public:
 		
-        EnvironmentModelODE(bool performODEinit = true) : EnvironmentModel()
+        EnvironmentModelODE(void) : EnvironmentModel()
 	{
-	    static bool initODE = true;
-	    if (initODE)
-	    {
-		if (performODEinit)
-		    dInitODE();
-		initODE = false;
-	    }
-	    
+	    dInitODE2(0);
 	    m_space = dHashSpaceCreate(0);
 	    m_spaceBasicGeoms = dHashSpaceCreate(0);
 	}
@@ -68,6 +61,7 @@
 	virtual ~EnvironmentModelODE(void)
 	{
 	    freeMemory();
+	    dCloseODE();
 	}
 	
 	/** The space ID for the objects that can be changed in the


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