2659,2804d2658
< 
< /******************** breakable joint contribution ***********************/
< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
<   dAASSERT(joint);
<   if (b) {
<     // we want this joint to be breakable but we must first check if it
<     // was already breakable
<     if (!joint->breakInfo) {
<       // allocate a dxJointBreakInfo struct
<       joint->breakInfo = new dxJointBreakInfo;
<       joint->breakInfo->flags = 0;
<       for (int i = 0; i < 3; i++) {
<         joint->breakInfo->b1MaxF[0] = 0;
<         joint->breakInfo->b1MaxT[0] = 0;
<         joint->breakInfo->b2MaxF[0] = 0;
<         joint->breakInfo->b2MaxT[0] = 0;
<       }
< 	  joint->breakInfo->callback = 0;
<     }
<     else {
<       // the joint was already breakable
<       return;
<     }
<   }
<   else {
<     // we want this joint to be unbreakable mut we must first check if
<     // it is alreay unbreakable
<     if (joint->breakInfo) {
<       // deallocate the dxJointBreakInfo struct
<       delete joint->breakInfo;
<       joint->breakInfo = 0;
<     }
<     else {
<       // the joint was already unbreakable
<       return;
<     }
<   }
< }
< 
< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<     dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
<   }
< # endif
<   joint->breakInfo->callback = callbackFunc;
< }
< 
< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<     dDebug (0, "dJointSetBreakMode called on unbreakable joint");
<   }
< # endif
<   joint->breakInfo->flags = mode;
< }
< 
< extern "C" int dJointGetBreakMode (dxJoint *joint) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<     dDebug (0, "dJointGetBreakMode called on unbreakable joint");
<   }
< # endif
<   return joint->breakInfo->flags;
< }
< 
< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<   dDebug (0, "dJointSetBreakForce called on unbreakable joint");
<   }
< # endif
<   if (body) {
< 	joint->breakInfo->b2MaxF[0] = x;
< 	joint->breakInfo->b2MaxF[1] = y;
< 	joint->breakInfo->b2MaxF[2] = z;
<   }
<   else {
< 	joint->breakInfo->b1MaxF[0] = x;
< 	joint->breakInfo->b1MaxF[1] = y;
< 	joint->breakInfo->b1MaxF[2] = z;
<   }
< }
< 
< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<   dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
<   }
< # endif
<   if (body) {
< 	joint->breakInfo->b2MaxT[0] = x;
< 	joint->breakInfo->b2MaxT[1] = y;
< 	joint->breakInfo->b2MaxT[2] = z;
<   }
<   else {
< 	joint->breakInfo->b1MaxT[0] = x;
< 	joint->breakInfo->b1MaxT[1] = y;
< 	joint->breakInfo->b1MaxT[2] = z;
<   }
< }
< 
< extern "C" int dJointIsBreakable (dxJoint *joint) {
<   dAASSERT(joint);
<   return joint->breakInfo != 0;
< }
< 
< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<     dDebug (0, "dJointGetBreakForce called on unbreakable joint");
<   }
< # endif
<   if (body)
<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
<   else
<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
< }
< 
< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
<   dAASSERT(joint);
< # ifndef dNODEBUG
<   // only works for a breakable joint
<   if (!joint->breakInfo) {
<     dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
<   }
< # endif
<   if (body)
<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
<   else
<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
< }
< /*************************************************************************/
<   
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