NewtonUserJoint::NewtonUserJoint (dgWorld * const world, dgInt32 maxDof, NewtonUserBilateralCallback callback, NewtonUserBilateralGetInfoCallback getInfo, dgBody * const dyn0, dgBody * const dyn1)
: dgUserConstraint (world, dyn0, dyn1, 1)
{
m_rows = 0;
m_maxDOF = dgUnsigned8 (maxDof);
m_jacobianFnt = callback;
m_getInfoCallback = getInfo;
dgAssert (world);
m_forceArray = m_jointForce;
if (m_maxDOF > DG_BILATERAL_CONTRAINT_DOF)
m_forceArray = (dgForceImpactPair *) world->GetAllocator()->Malloc (dgInt32 (m_maxDOF * sizeof (dgForceImpactPair)));
memset (m_forceArray, 0, m_maxDOF * sizeof (dgFloat32));
}
NewtonUserJoint::NewtonUserJoint (
dgWorld* world,
dgInt32 maxDof,
NewtonUserBilateralCallBack callback,
NewtonUserBilateralGetInfoCallBack getInfo,
dgBody *dyn0,
dgBody *dyn1)
:dgUserConstraint (world, dyn0, dyn1, 1)
{
m_rows = 0;
m_maxDOF = dgUnsigned8(maxDof);
m_jacobianFnt = callback;
m_getInfoCallback = getInfo;
_ASSERTE (world);
m_forceArray = m_jointForce;
if (m_maxDOF > 24) {
_ASSERTE (0);
m_forceArray = (dgFloat32*) world->GetAllocator()->Malloc (dgInt32 (m_maxDOF * sizeof (dgFloat32)));
}
memset (m_forceArray, 0, m_maxDOF * sizeof (dgFloat32));
}