Revision: 7725
http://playerstage.svn.sourceforge.net/playerstage/?rev=7725&view=rev
Author: hsujohnhsu
Date: 2009-05-27 03:11:01 +0000 (Wed, 27 May 2009)
Log Message:
-----------
comment out ode reads.
Modified Paths:
--------------
code/gazebo/branches/threads/server/physics/Body.cc
Modified: code/gazebo/branches/threads/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/threads/server/physics/Body.cc 2009-05-27 02:54:33 UTC
(rev 7724)
+++ code/gazebo/branches/threads/server/physics/Body.cc 2009-05-27 03:11:01 UTC
(rev 7725)
@@ -449,6 +449,7 @@
(*sensorIter)->Update();
}
+ if(0) // comment out damping for now
if(this->GetId())
{
this->physicsEngine->LockMutex();
@@ -609,7 +610,7 @@
if (this->bodyId)
{
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex(); // returns const
const dReal *p;
p = dBodyGetPosition(this->bodyId);
@@ -626,7 +627,7 @@
assert(0);
}
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
}
else
{
@@ -647,9 +648,9 @@
{
const dReal *r;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
r = dBodyGetQuaternion(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
rot.u = r[0];
rot.x = r[1];
@@ -682,9 +683,9 @@
{
const dReal *v;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
v = dBodyGetLinearVel(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
vel.x = v[0];
vel.y = v[1];
@@ -712,9 +713,9 @@
{
const dReal *v;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
v = dBodyGetAngularVel(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
vel.x = v[0];
vel.y = v[1];
@@ -743,9 +744,9 @@
{
const dReal *v;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
v = dBodyGetAngularVel(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
vel.x = v[0];
vel.y = v[1];
vel.z = v[2];
@@ -1076,9 +1077,9 @@
{
const dReal *dvel;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
dvel = dBodyGetLinearVel(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
vel.x = dvel[0];
vel.y = dvel[1];
@@ -1110,9 +1111,9 @@
{
const dReal *dvel;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
dvel = dBodyGetAngularVel(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
vel.x = dvel[0];
vel.y = dvel[1];
@@ -1172,9 +1173,9 @@
{
const dReal *dforce;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
dforce = dBodyGetForce(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
force.x = dforce[0];
force.y = dforce[1];
@@ -1206,9 +1207,9 @@
{
const dReal *dtorque;
- this->physicsEngine->LockMutex();
+ //this->physicsEngine->LockMutex();
dtorque = dBodyGetTorque(this->bodyId);
- this->physicsEngine->UnlockMutex();
+ //this->physicsEngine->UnlockMutex();
torque.x = dtorque[0];
torque.y = dtorque[1];
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