[ODE] Breakable joints

[Roel van Dijk]

On Saturday 28 June 2003 19:05, Nate W wrote:
> At the very least, it sounds like a good thing to include as a
> contribution.  As for implementing it in ODE itself, is there a way to do
> so without forcing any memory or CPU overhead on ODE users who don't want
> breakable joints?
I think I can do it the same way as the joint feedback structure. The memory 
overhead will be one pointer (1 byte?) per joint. The CPU overhead will 
consist of one check every step for every joint, something like 'if 
dJointIsBreakable(joint)'. Maybe this can also be optimized by placing all 
breakable joints in a jointgroup. If you want no overhead at all then this 
must remain a contribution ofcourse.
I'm going to try to find the place in the code where the forces on the joints 
are calculated. Maybe the place where the joint feedback struct is filled? If 
it's to hard I will post on the mailing list again :-)

Roel