[ODE] Patches (Sept 2006)

[Remi Ricard]

Hi David,
> Hi, I'm posting to ask about which patches have been looked at and
> should be added for the next version.
>
> Personally the straight-forwards ones that I see being applicable for
> addition immediately are: (mostly from Remi, thanks!)
>
>
> [ 1553537 ] Optimize when dGYROSCOPIC is not used
> http://sourceforge.net/tracker/index.php?func=detail&aid=1553537&group_id=24884&atid=382801
>
> [ 1553613 ] Patch to enable the selection of the test in test_joint
> http://sourceforge.net/tracker/index.php?func=detail&aid=1553613&group_id=24884&atid=382801
>
> [ 1553605 ] New Rotoide - Prismatic Joint
> http://sourceforge.net/tracker/index.php?func=detail&aid=1553613&group_id=24884&atid=382801
> (will need some documentation adding to the Wiki, a test is included too)
>
> [ 1477849 ] Add fct getUniversalAngles
> http://sourceforge.net/tracker/index.php?func=detail&aid=1477849&group_id=24884&atid=382801
>
> [ 1335199 ] Trimesh Memory Leaks
> http://sourceforge.net/tracker/index.php?func=detail&aid=1335199&group_id=24884&atid=382801
> (this might need a bit of a tidy up, because it's a really old problem)
>
>
> Now that 0.7 is out of the door, is it okay for me to start
> integrating these? If there's any doubt then it's fine to hold back -
> but it seems unhelpful to have some really beneficial fixes hanging
> around.
>
> Regards,
> Dave
>   

First of all thanks for committing the patch. I will be easier for me to 
stay in sync.


Second, It is a little bit off topic but

The patch about the assert for non-zero mass center.
Should ODE be able to work with a center of mass not centered at the 
frame body ?

Lots of people are making the assumption that the center of mass can be 
somewhere else.

I think the changes to be able to work with a CM not at the frame body 
will be only in the step, quickstep and faststep functions.
I started looking at that but did not finish. (Some code is still 
commented out in my sandbox)


Remi