odespace.h		odespace.h
	skipping to change at line 227		skipping to change at line 227
	_jointset[dJointTypeSlider] = dJointSetSliderParam;		_jointset[dJointTypeSlider] = dJointSetSliderParam;
	_jointset[dJointTypeUniversal] = dJointSetUniversalParam;		_jointset[dJointTypeUniversal] = dJointSetUniversalParam;
	_jointset[dJointTypeHinge2] = dJointSetHinge2Param;		_jointset[dJointTypeHinge2] = dJointSetHinge2Param;
	}		}
	virtual ~ODESpace() {		virtual ~ODESpace() {
	}		}
	bool InitEnvironment()		bool InitEnvironment()
	{		{
			#ifdef ODE_HAVE_ALLOCATE_DATA_THREAD
			dAllocateODEDataForThread(dAllocateMaskAll);
			#endif
	RAVELOG_VERBOSE("init ode collision environment\n");		RAVELOG_VERBOSE("init ode collision environment\n");
	_ode.reset(new ODEResources());		_ode.reset(new ODEResources());
	return true;		return true;
	}		}
	void DestroyEnvironment()		void DestroyEnvironment()
	{		{
	RAVELOG_VERBOSE("destroying ode collision environment\n");		RAVELOG_VERBOSE("destroying ode collision environment\n");
	_ode.reset();		_ode.reset();
	}		}
	bool IsInitialized() {		bool IsInitialized() {
	return !!_ode;		return !!_ode;
	}		}
	KinBodyInfoPtr InitKinBody(KinBodyPtr pbody, KinBodyInfoPtr pinfo = Kin BodyInfoPtr())		KinBodyInfoPtr InitKinBody(KinBodyPtr pbody, KinBodyInfoPtr pinfo = Kin BodyInfoPtr())
	{		{
	EnvironmentMutex::scoped_lock lock(pbody->GetEnv()->GetMutex());		EnvironmentMutex::scoped_lock lock(pbody->GetEnv()->GetMutex());
			#ifdef ODE_HAVE_ALLOCATE_DATA_THREAD
			dAllocateODEDataForThread(dAllocateMaskAll);
			#endif
	// create all ode bodies and joints		// create all ode bodies and joints
	if( !pinfo ) {		if( !pinfo ) {
	pinfo.reset(new KinBodyInfo(_ode));		pinfo.reset(new KinBodyInfo(_ode));
	}		}
	pinfo->Reset();		pinfo->Reset();
	pinfo->pbody = pbody;		pinfo->pbody = pbody;
	pinfo->_odespace = weak_space();		pinfo->_odespace = weak_space();
	pinfo->vlinks.reserve(pbody->GetLinks().size());		pinfo->vlinks.reserve(pbody->GetLinks().size());
	pinfo->vjoints.reserve(pbody->GetJoints().size()+pbody->GetPassiveJ oints().size());		pinfo->vjoints.reserve(pbody->GetJoints().size()+pbody->GetPassiveJ oints().size());
End of changes. 2 change blocks.
	0 lines changed or deleted		7 lines changed or added
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