Revision: 8059
http://playerstage.svn.sourceforge.net/playerstage/?rev=8059&view=rev
Author: hsujohnhsu
Date: 2009-07-21 01:21:08 +0000 (Tue, 21 Jul 2009)
Log Message:
-----------
allow joint attaching body to world.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Joint.cc
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2009-07-20 23:47:33 UTC (rev
8058)
+++ code/gazebo/trunk/server/physics/Joint.cc 2009-07-21 01:21:08 UTC (rev
8059)
@@ -109,10 +109,10 @@
Body *body2 = this->model->GetBody(**(this->body2NameP));
Body *anchorBody = this->model->GetBody(**(this->anchorBodyNameP));
- if (!body1)
+ if (!body1 && this->body1NameP->GetValue() != std::string("world"))
gzthrow("Couldn't Find Body[" + node->GetString("body1","",1));
- if (!body2)
+ if (!body2 && this->body2NameP->GetValue() != std::string("world"))
gzthrow("Couldn't Find Body[" + node->GetString("body2","",1));
// setting anchor relative to gazebo body frame origin
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