Revision: 8627
http://playerstage.svn.sourceforge.net/playerstage/?rev=8627&view=rev
Author: hsujohnhsu
Date: 2010-04-26 18:09:46 +0000 (Mon, 26 Apr 2010)
Log Message:
-----------
check body befor enabling, in case it's the world
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc
Modified: code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc 2010-04-26
18:09:36 UTC (rev 8626)
+++ code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc 2010-04-26
18:09:46 UTC (rev 8627)
@@ -60,8 +60,8 @@
void ODEUniversalJoint::SetAnchor( int /*index*/, const Vector3 &anchor )
{
this->physics->LockMutex();
- this->body1->SetEnabled(true);
- this->body2->SetEnabled(true);
+ if (this->body1) this->body1->SetEnabled(true);
+ if (this->body2) this->body2->SetEnabled(true);
dJointSetUniversalAnchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
@@ -89,8 +89,8 @@
{
this->physics->LockMutex();
- this->body1->SetEnabled(true);
- this->body2->SetEnabled(true);
+ if (this->body1) this->body1->SetEnabled(true);
+ if (this->body2) this->body2->SetEnabled(true);
if (index == 0)
dJointSetUniversalAxis1( this->jointId, axis.x, axis.y, axis.z );
@@ -144,8 +144,8 @@
void ODEUniversalJoint::SetForce(int index, double torque)
{
this->physics->LockMutex();
- this->body1->SetEnabled(true);
- this->body2->SetEnabled(true);
+ if (this->body1) this->body1->SetEnabled(true);
+ if (this->body2) this->body2->SetEnabled(true);
if (index == 0)
dJointAddUniversalTorques( this->jointId, torque, 0);
else
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