odespace.h		odespace.h
	skipping to change at line 186		skipping to change at line 186
	vjoints.resize(0);		vjoints.resize(0);
	_geometrycallback.reset();		_geometrycallback.reset();
	_staticcallback.reset();		_staticcallback.reset();
	}		}
	KinBodyPtr pbody; ///< body associated with this structure		KinBodyPtr pbody; ///< body associated with this structure
	int nLastStamp;		int nLastStamp;
	vector<boost::shared_ptr<LINK> > vlinks; ///< if body is di sabled, then geom is static (it can't be connected to a joint!)		vector<boost::shared_ptr<LINK> > vlinks; ///< if body is di sabled, then geom is static (it can't be connected to a joint!)
			vector<int> _vdofbranches;
	///< the pointer to this Link is the userdata		///< the pointer to this Link is the userdata
	vector<dJointID> vjoints;		vector<dJointID> vjoints;
	vector<dJointFeedback> vjointfeedback;		vector<dJointFeedback> vjointfeedback;
	boost::shared_ptr<void> _geometrycallback, _staticcallback;		boost::shared_ptr<void> _geometrycallback, _staticcallback;
	boost::weak_ptr<ODESpace> _odespace;		boost::weak_ptr<ODESpace> _odespace;
	dSpaceID space; ///< space that contani s all the collision objects of this chain		dSpaceID space; ///< space that contani s all the collision objects of this chain
	dJointGroupID jointgroup;		dJointGroupID jointgroup;
	private:		private:
	skipping to change at line 321		skipping to change at line 323
	dGeomSetQuaternion(geom,t.rot);		dGeomSetQuaternion(geom,t.rot);
	dGeomSetPosition(geom,t.trans.x, t.trans.y, t.trans.z);		dGeomSetPosition(geom,t.trans.x, t.trans.y, t.trans.z);
	// finally set the geom to the ode body		// finally set the geom to the ode body
	dGeomSetBody(geomtrans, link->body);		dGeomSetBody(geomtrans, link->body);
	link->geom = geomtrans;		link->geom = geomtrans;
	}		}
	if( !(*itlink)->IsStatic() && _bUsingPhysics ) {		if( !(*itlink)->IsStatic() && _bUsingPhysics ) {
	// set the mass		// set the mass
	RaveTransformMatrix<dReal> I = (*itlink)->GetLocalInertia() ;
	dMass mass;		dMass mass;
	dMassSetZero(&mass);		dMassSetZero(&mass);
	mass.mass = (*itlink)->GetMass();		mass.mass = (*itlink)->GetMass();
	mass.I[0] = I.m[0]; mass.I[1] = I.m[1]; mass.I[2] = I.m[2];
	mass.I[4] = I.m[4]; mass.I[5] = I.m[5]; mass.I[6] = I.m[6];
	mass.I[8] = I.m[8]; mass.I[9] = I.m[9]; mass.I[10] = I.m[10
	];
	// ignore center of mass for now (ode doesn't like it when
	it is non-zero)
	//mass.c = I.trans;
	if( mass.mass <= 0 ) {		if( mass.mass <= 0 ) {
	RAVELOG_WARN(str(boost::format("body %s:%s mass is %f. filling dummy values")%pbody->GetName()%(*itlink)->GetName()%mass.mass));		RAVELOG_WARN(str(boost::format("body %s:%s mass is %f. filling dummy values")%pbody->GetName()%(*itlink)->GetName()%mass.mass));
	mass.mass = 1e-7;		mass.mass = 1e-7;
	mass.I[0] = 1; mass.I[1] = 0; mass.I[2] = 0;		mass.I[0] = 1; mass.I[1] = 0; mass.I[2] = 0;
	mass.I[4] = 0; mass.I[5] = 1; mass.I[6] = 0;		mass.I[4] = 0; mass.I[5] = 1; mass.I[6] = 0;
	mass.I[8] = 0; mass.I[9] = 0; mass.I[10] = 1;		mass.I[8] = 0; mass.I[9] = 0; mass.I[10] = 1;
	}		}
			else {
			if( (*itlink)->GetPrincipalMomentsOfInertia().lengthsqr
			3() > 0 ) {
			RaveTransformMatrix<dReal> I = (*itlink)->GetLocalI
			nertia();
			mass.I[0] = I.m[0]; mass.I[1] = I.m[1]; mass.I[2] =
			I.m[2];
			mass.I[4] = I.m[4]; mass.I[5] = I.m[5]; mass.I[6] =
			I.m[6];
			mass.I[8] = I.m[8]; mass.I[9] = I.m[9]; mass.I[10]
			= I.m[10];
			}
			else {
			mass.I[0] = 1; mass.I[1] = 0; mass.I[2] = 0;
			mass.I[4] = 0; mass.I[5] = 1; mass.I[6] = 0;
			mass.I[8] = 0; mass.I[9] = 0; mass.I[10] = 1;
			}
			}
			// ignore center of mass for now (ode doesn't like it when
			it is non-zero)
			//mass.c = ?;
	dBodySetMass(link->body, &mass);		dBodySetMass(link->body, &mass);
	}		}
	link->plink = *itlink;		link->plink = *itlink;
	// set the transformation		// set the transformation
	RaveTransform<dReal> t = (*itlink)->GetTransform();		RaveTransform<dReal> t = (*itlink)->GetTransform();
	dBodySetPosition(link->body,t.trans.x, t.trans.y, t.trans.z);		dBodySetPosition(link->body,t.trans.x, t.trans.y, t.trans.z);
	BOOST_ASSERT( RaveFabs(t.rot.lengthsqr4()-1) < 0.0001f );		BOOST_ASSERT( RaveFabs(t.rot.lengthsqr4()-1) < 0.0001f );
	dBodySetQuaternion(link->body,t.rot);		dBodySetQuaternion(link->body,t.rot);
	dBodySetData(link->body, &link->plink); // so that the link can be retreived from the body		dBodySetData(link->body, &link->plink); // so that the link can be retreived from the body
	skipping to change at line 561		skipping to change at line 573
	_synccallback = synccallback;		_synccallback = synccallback;
	}		}
	typedef void (*JointSetFn)(dJointID, int param, dReal val);		typedef void (*JointSetFn)(dJointID, int param, dReal val);
	JointSetFn _jointset[12];		JointSetFn _jointset[12];
	private:		private:
	void Synchronize(KinBodyInfoPtr pinfo)		void Synchronize(KinBodyInfoPtr pinfo)
	{		{
	vector<Transform> vtrans;		vector<Transform> vtrans;
	pinfo->pbody->GetLinkTransformations(vtrans);		pinfo->pbody->GetLinkTransformations(vtrans, pinfo->_vdofbranches);
	pinfo->nLastStamp = pinfo->pbody->GetUpdateStamp();		pinfo->nLastStamp = pinfo->pbody->GetUpdateStamp();
	BOOST_ASSERT( vtrans.size() == pinfo->vlinks.size() );		BOOST_ASSERT( vtrans.size() == pinfo->vlinks.size() );
	for(size_t i = 0; i < vtrans.size(); ++i) {		for(size_t i = 0; i < vtrans.size(); ++i) {
	RaveTransform<dReal> t = vtrans[i];		RaveTransform<dReal> t = vtrans[i];
	BOOST_ASSERT( RaveFabs(t.rot.lengthsqr4()-1) < 0.0001f );		BOOST_ASSERT( RaveFabs(t.rot.lengthsqr4()-1) < 0.0001f );
	dBodySetQuaternion(pinfo->vlinks[i]->body, t.rot);		dBodySetQuaternion(pinfo->vlinks[i]->body, t.rot);
	dBodySetPosition(pinfo->vlinks[i]->body, t.trans.x, t.trans.y, t.trans.z);		dBodySetPosition(pinfo->vlinks[i]->body, t.trans.x, t.trans.y, t.trans.z);
	}		}
	if( !!_synccallback ) {		if( !!_synccallback ) {
	_synccallback(pinfo);		_synccallback(pinfo);
End of changes. 5 change blocks.
	9 lines changed or deleted		25 lines changed or added
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