[ODE] Some patches

[Kevin Reid]

Various changes I've found useful and would like to see integrated into
standard ODE:



  ########## Tweaks to the build process for OSX:

--- config/makefile.osx 25 Dec 2001 06:22:48 -0000      1.1
+++ config/makefile.osx 25 Feb 2003 15:17:16 -0000
@@ -2,17 +2,17 @@
 DEL_CMD=rm -f
 CC=cc
 OBJ=.o
-C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall
+C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall -I/usr/X11R6/include
 C_INC=-I
 C_OUT=-o 
 C_EXEOUT=-o 
 C_DEF=-D
 C_OPT=-O
 AR=ar rc 
-RANLIB=
+RANLIB=ranlib
 LIB_PREFIX=lib
 LIB_SUFFIX=.a
-LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
+LINK_OPENGL=-L/usr/X11R6/lib -lX11 -lGL -lstdc++
 LINK_MATH=-lm
 
 ifeq ($(BUILD),release)



  ########## New function dGeomIsPlaceable and makes dGeomSetBody(non-placeable geom, NULL) allowed:

--- include/ode/collision.h     1 Dec 2002 07:01:14 -0000       1.3
+++ include/ode/collision.h     25 Feb 2003 15:17:16 -0000
@@ -45,6 +45,7 @@
 const dReal * dGeomGetRotation (dGeomID);
 void dGeomGetAABB (dGeomID, dReal aabb[6]);
 int dGeomIsSpace (dGeomID);
+int dGeomIsPlaceable (dGeomID);
 int dGeomGetClass (dGeomID);
 void dGeomSetCategoryBits (dGeomID, unsigned long bits);
 void dGeomSetCollideBits (dGeomID, unsigned long bits);


--- ode/src/collision_kernel.cpp        9 Dec 2002 01:27:29 -0000       1.7
+++ ode/src/collision_kernel.cpp        25 Feb 2003 15:49:47 -0000
@@ -285,10 +285,11 @@
 void dGeomSetBody (dxGeom *g, dxBody *b)
 {
   dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
   CHECK_NOT_LOCKED (g->parent_space);
 
   if (b) {
+    dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+
     if (!g->body) dFree (g->pos,sizeof(dxPosR));
     g->pos = b->pos;
     g->R = b->R;
@@ -384,6 +385,13 @@
 {
   dAASSERT (g);
   return IS_SPACE(g);
+}
+
+
+int dGeomIsPlaceable (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->gflags & GEOM_PLACEABLE;
 }
 
 

  ########## Allow infinitely thin boxes:

--- ode/src/collision_std.cpp   1 Dec 2002 07:00:02 -0000       1.6
+++ ode/src/collision_std.cpp   25 Feb 2003 15:17:18 -0000
@@ -135,7 +135,7 @@
 
 dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1)
 {
-  dAASSERT (lx > 0 && ly > 0 && lz > 0);
+  dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
   type = dBoxClass;
   side[0] = lx;
   side[1] = ly;
@@ -169,7 +169,7 @@
 void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
 {
   dUASSERT (g && g->type == dBoxClass,"argument not a box");
-  dAASSERT (lx > 0 && ly > 0 && lz > 0);
+  dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
   dxBox *b = (dxBox*) g;
   b->side[0] = lx;
   b->side[1] = ly;



  ########## Prevent data structures becoming inconsistent if dSpaceAdd() is called on a geom already in a space:

--- ode/src/space.cpp   10 Nov 2002 23:19:33 -0000      1.20
+++ ode/src/space.cpp   25 Feb 2003 15:49:48 -0000
@@ -603,6 +603,7 @@
 
 void dSpaceAdd (dxSpace * space, dxGeom *g)
 {
+  dUASSERT(!g->space, "geom is already in a space");
   space->add (g);
 }


-- 
Kevin Reid