[ODE] Patches (Sept 2006)

Remi Ricard remi.ricard at simlog.com
Wed Sep 13 05:57:51 MST 2006

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)


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