dxJoint::dxJoint( dxWorld *w ) : dObject( w ) { //printf("constructing %p\n", this); dIASSERT( w ); flags = 0; node[0].joint = this; node[0].body = 0; node[0].next = 0; node[1].joint = this; node[1].body = 0; node[1].next = 0; dSetZero( lambda, 6 ); dSetZero( lambda_erp, 6 ); addObjectToList( this, ( dObject ** ) &w->firstjoint ); w->nj++; feedback = 0; // Moved here by OSRF // Default to negative value, which means the current global value // will be used. If set non-negative, then this joint-specific // value will be used. erp = -1; // world->global_erp; cfm = -1; // world->global_cfm; }
/** * Add an object to the list of session objects * * @param session the session * @param object the object to add */ void addSessionObject(struct p11Session_t *session, struct p11Object_t *object) { if (session->freeSessionObjNumber == 0) { session->freeSessionObjNumber = 0xA000; } object->handle = session->freeSessionObjNumber++; object->dirtyFlag = 0; addObjectToList(&session->sessionObjList, object); session->numberOfSessionObjects++; }
dxJoint::dxJoint( dxWorld *w ) : dObject( w ) { //printf("constructing %p\n", this); dIASSERT( w ); flags = 0; node[0].joint = this; node[0].body = 0; node[0].next = 0; node[1].joint = this; node[1].body = 0; node[1].next = 0; dSetZero( lambda, 6 ); addObjectToList( this, ( dObject ** ) &w->firstjoint ); w->nj++; feedback = 0; }