Revision: 8624
http://playerstage.svn.sourceforge.net/playerstage/?rev=8624&view=rev
Author: hsujohnhsu
Date: 2010-04-26 18:09:09 +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/ODEHinge2Joint.cc
Modified: code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc 2010-04-26
13:50:18 UTC (rev 8623)
+++ code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc 2010-04-26
18:09:09 UTC (rev 8624)
@@ -91,8 +91,8 @@
void ODEHinge2Joint::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);
dJointSetHinge2Anchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
}
@@ -102,8 +102,8 @@
void ODEHinge2Joint::SetAxis( int index, const Vector3 &axis )
{
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)
dJointSetHinge2Axis1( this->jointId, axis.x, axis.y, axis.z );
@@ -193,8 +193,8 @@
void ODEHinge2Joint::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)
dJointAddHinge2Torques(this->jointId, torque, 0);
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