示例#1
0
int pSim::clear_contact()
{
	int n_contacts = contact_vjoints.size();
	if(n_contacts == 0) return 0;
	int org_n_joint = n_joint;
	JointInfo* jinfo_save = joint_info;
	for(joint_list::iterator j=contact_vjoints.begin(); j!=contact_vjoints.end(); j++)
	{
		RemoveJoint(*j);
		delete *j;
	}
	// clear and init Chain's data
	Chain::clear_data();
#ifdef SEGA
	Chain::init();
#else
	Chain::init(0);
#endif
	joint_info = new JointInfo [n_joint];
	for(int i=0; i<org_n_joint; i++)
	{
		if(contact_vjoint_index(jinfo_save[i].pjoints[0]->joint) < 0)
		{
			Joint* j = jinfo_save[i].pjoints[0]->joint;
			joint_info[j->i_joint].pjoints[0] = jinfo_save[i].pjoints[0];
			joint_info[j->i_joint].pjoints[1] = jinfo_save[i].pjoints[1];
			joint_info[j->i_joint].plink = jinfo_save[i].plink;
		}
		else
		{
			delete jinfo_save[i].pjoints[0];
			delete jinfo_save[i].pjoints[1];
			if(jinfo_save[i].plink) delete jinfo_save[i].plink;
		}
	}
	if(jinfo_save) delete[] jinfo_save;
	contact_vjoints.clear();
	contact_relvels.clear();
	fric_coefs.clear();
	all_vjoints.clear();
	all_Jv.clear();
	all_Jr.clear();
	all_jdot_v.clear();
	all_jdot_r.clear();
	return 0;
}
示例#2
0
//------------------------------------------------------------------------------
void QSim::_destroyOnlyJoint(QJoint* joint)
{
    RemoveJoint(joint);
    delete joint;
}