[ODE] Four little things

[Russ Smith]

hi matt,

> Thing 3:
> There also appears to be a minor bug in dJointGetBody().  It looks
> like it's the only remaining API function that does not respect
> dJOINT_REVERSE.  (It's over in ode.cpp rather than with most of the
> others in joint.cpp, so it's easy to see how it got missed.  Or does
> this function expose the Bodys in ODE-internal order intentionally?
> In that case this would be a documentation bug, if not an API bug,
> because that's definitely not what the user will expect.

okay, i've fixed it (and made the documentation for this function
clearer). for a sanity check, can you verify that this is what you had
in mind:

  dBodyID dJointGetBody (dxJoint *joint, int index)
  {
    dAASSERT (joint);
    if (index == 0 || index == 1) {
      if (joint->flags & dJOINT_REVERSE)
        return joint->node[1-index].body;
      else return joint->node[index].body;
    }
    else return 0;
  }


russ.

-- 
Russell Smith
http://www.q12.org