Revision: 8375
http://playerstage.svn.sourceforge.net/playerstage/?rev=8375&view=rev
Author: natepak
Date: 2009-11-05 23:39:52 +0000 (Thu, 05 Nov 2009)
Log Message:
-----------
Allows attaching joints to the world
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/physics/ode/ODEJoint.cc
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2009-11-05 23:12:35 UTC (rev
8374)
+++ code/gazebo/trunk/server/physics/Joint.cc 2009-11-05 23:39:52 UTC (rev
8375)
@@ -240,13 +240,13 @@
}
//////////////////////////////////////////////////////////////////////////////
-/// \brief Reset the joint
+/// Reset the joint
void Joint::Reset()
{
}
//////////////////////////////////////////////////////////////////////////////
-/// \brief Attach the two bodies with this joint
+/// Attach the two bodies with this joint
void Joint::Attach( Body *one, Body *two )
{
this->body1 = one;
Modified: code/gazebo/trunk/server/physics/ode/ODEJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEJoint.cc 2009-11-05 23:12:35 UTC
(rev 8374)
+++ code/gazebo/trunk/server/physics/ode/ODEJoint.cc 2009-11-05 23:39:52 UTC
(rev 8375)
@@ -125,8 +125,8 @@
ODEBody *odeBody1 = dynamic_cast<ODEBody*>(this->body1);
ODEBody *odeBody2 = dynamic_cast<ODEBody*>(this->body2);
- if (odeBody1 == NULL || odeBody2 == NULL)
- gzthrow("ODEJoint requires ODE bodies\n");
+ if (odeBody1 == NULL && odeBody2 == NULL)
+ gzthrow("ODEJoint requires at least one ODE body\n");
if (!odeBody1 && odeBody2)
{
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