static void inspectJoints(void)
{
const dReal forcelimit = 2000.0;
int i;
for (i=0; i<SEGMCNT-1; i++)
{
if (dJointGetBody(hinges[i], 0))
{
// This joint has not snapped already... inspect it.
dReal l0 = dLENGTH(jfeedbacks[i].f1);
dReal l1 = dLENGTH(jfeedbacks[i].f2);
colours[i+0] = 0.95*colours[i+0] + 0.05 * l0/forcelimit;
colours[i+1] = 0.95*colours[i+1] + 0.05 * l1/forcelimit;
if (l0 > forcelimit || l1 > forcelimit)
stress[i]++;
else
stress[i]=0;
if (stress[i]>4)
{
// Low-pass filter the noisy feedback data.
// Only after 4 consecutive timesteps with excessive load, snap.
fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i);
dJointAttach (hinges[i], 0, 0);
}
}
}
}
//check for joint triggering
void Joint::Physics_Step (void)
{
Joint *d = Joint::head;
dReal delt1, delt2, delt;
while (d)
{
if (d->buffer_event)
{
//TODO: check torque also?
delt1 = dLENGTH(d->feedback->f1);
delt2 = dLENGTH(d->feedback->f2);
if (delt1>delt2)
delt = delt1 - d->threshold;
else
delt = delt2 - d->threshold;
if (delt > 0)
{
if (d->buffer < 0) //already depleted, just damage more
d->buffer -= delt*internal.stepsize;
else
{
d->buffer -= delt*internal.stepsize;
if (d->buffer < 0)
{
printlog(2, "Joint buffer depleted, generating event");
new Buffer_Event_List(d);
}
}
}
}
d = d->next;
}
}
