2659,2804d2658< < /******************** breakable joint contribution ***********************/< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {<   dAASSERT(joint);<   if (b) {<     // we want this joint to be breakable but we must first check if it<     // was already breakable<     if (!joint->breakInfo) {<       // allocate a dxJointBreakInfo struct<       joint->breakInfo = new dxJointBreakInfo;<       joint->breakInfo->flags = 0;<       for (int i = 0; i < 3; i++) {<         joint->breakInfo->b1MaxF[0] = 0;<         joint->breakInfo->b1MaxT[0] = 0;<         joint->breakInfo->b2MaxF[0] = 0;<         joint->breakInfo->b2MaxT[0] = 0;<       }< 	  joint->breakInfo->callback = 0;<     }<     else {<       // the joint was already breakable<       return;<     }<   }<   else {<     // we want this joint to be unbreakable mut we must first check if<     // it is alreay unbreakable<     if (joint->breakInfo) {<       // deallocate the dxJointBreakInfo struct<       delete joint->breakInfo;<       joint->breakInfo = 0;<     }<     else {<       // the joint was already unbreakable<       return;<     }<   }< }< < extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<     dDebug (0, "dJointSetBreakCallback called on unbreakable joint");<   }< # endif<   joint->breakInfo->callback = callbackFunc;< }< < extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<     dDebug (0, "dJointSetBreakMode called on unbreakable joint");<   }< # endif<   joint->breakInfo->flags = mode;< }< < extern "C" int dJointGetBreakMode (dxJoint *joint) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<     dDebug (0, "dJointGetBreakMode called on unbreakable joint");<   }< # endif<   return joint->breakInfo->flags;< }< < extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<   dDebug (0, "dJointSetBreakForce called on unbreakable joint");<   }< # endif<   if (body) {< 	joint->breakInfo->b2MaxF[0] = x;< 	joint->breakInfo->b2MaxF[1] = y;< 	joint->breakInfo->b2MaxF[2] = z;<   }<   else {< 	joint->breakInfo->b1MaxF[0] = x;< 	joint->breakInfo->b1MaxF[1] = y;< 	joint->breakInfo->b1MaxF[2] = z;<   }< }< < extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<   dDebug (0, "dJointSetBreakTorque called on unbreakable joint");<   }< # endif<   if (body) {< 	joint->breakInfo->b2MaxT[0] = x;< 	joint->breakInfo->b2MaxT[1] = y;< 	joint->breakInfo->b2MaxT[2] = z;<   }<   else {< 	joint->breakInfo->b1MaxT[0] = x;< 	joint->breakInfo->b1MaxT[1] = y;< 	joint->breakInfo->b1MaxT[2] = z;<   }< }< < extern "C" int dJointIsBreakable (dxJoint *joint) {<   dAASSERT(joint);<   return joint->breakInfo != 0;< }< < extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<     dDebug (0, "dJointGetBreakForce called on unbreakable joint");<   }< # endif<   if (body)<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];<   else<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];< }< < extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {<   dAASSERT(joint);< # ifndef dNODEBUG<   // only works for a breakable joint<   if (!joint->breakInfo) {<     dDebug (0, "dJointGetBreakTorque called on unbreakable joint");<   }< # endif<   if (body)<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];<   else<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];< }< /*************************************************************************/<   \ No newline at end of file