Revision: 8628
http://playerstage.svn.sourceforge.net/playerstage/?rev=8628&view=rev
Author: hsujohnhsu
Date: 2010-04-26 18:10:10 +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/ODEHingeJoint.cc
Modified: code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc 2010-04-26
18:09:46 UTC (rev 8627)
+++ code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc 2010-04-26
18:10:10 UTC (rev 8628)
@@ -76,8 +76,8 @@
void ODEHingeJoint::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);
dJointSetHingeAnchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
@@ -102,8 +102,8 @@
void ODEHingeJoint::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);
dJointSetHingeAxis( this->jointId, axis.x, axis.y, axis.z );
this->physics->UnlockMutex();
@@ -157,8 +157,8 @@
void ODEHingeJoint::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);
dJointAddHingeTorque( this->jointId, torque );
this->physics->UnlockMutex();
}
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