[ODE] bug in amotorComputeGlobalAxes

[Adam D. Moss]

Geoff Carlton wrote:
> Hi,
> I've just noticed the relative-to-body1 mode in AMotor doesn't work, due 
> to a bug in amotorComputeGlobalAxes.  I don't have write access to cvs, 
> but here is the patch if somebody wants apply the fix:
> 
> @@ -2301,20 +2301,20 @@
>     // relative to b1
>     dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
>       }
> -      if (joint->rel[i] == 2) {
> +      else if (joint->rel[i] == 2) {
>     // relative to b2
>     if (joint->node[1].body) {   // jds: don't assert, just ignore
>     dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);

Hi there.

I'm a bit confused about why this would change anything at all.
The existing code is:

       if (joint->rel[i] == 1) {
	// relative to b1
	dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
       }
       if (joint->rel[i] == 2) {
	// relative to b2
	if (joint->node[1].body) {   // jds: don't assert, just ignore
	dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
       }

joint->rel[i] can't be 1 AND 2, and the first case wouldn't change
this value before it gets to the second case.
Am I missing something?

--Adam