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;
}
