boost::shared_ptr<Joint> Joint::GetJoint(long jointID)
{
if (jointID == 0)
{
return boost::shared_ptr<Joint>();
}
Joint* jointPtr = mJointImp->GetJoint(jointID);
if (jointPtr == 0)
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) no joint found for dJointID "
<< jointID << "\n";
return boost::shared_ptr<Joint>();
}
boost::shared_ptr<Joint> joint = static_pointer_cast<Joint>
(jointPtr->GetSelf().lock());
if (joint.get() == 0)
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) got no boost::shared_ptr for dJointID "
<< jointID << "\n";
}
return joint;
}
shared_ptr<Joint> Joint::GetJoint(dJointID id)
{
if (id == 0)
{
return shared_ptr<Joint>();
}
Joint* jointPtr =
static_cast<Joint*>(dJointGetData(id));
if (jointPtr == 0)
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) no joint found for dJointID "
<< id << "\n";
return shared_ptr<Joint>();
}
shared_ptr<Joint> joint = shared_static_cast<Joint>
(jointPtr->GetSelf().lock());
if (joint.get() == 0)
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) got no shared_ptr for dJointID "
<< id << "\n";
}
return joint;
}