From f2ead32c3ed8f57e65622ca6585eacf5e3d992a3 Mon Sep 17 00:00:00 2001
From: themarex <themarex@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Mon, 29 Sep 2014 08:39:10 +0000
Subject: [PATCH] Fix locking for getAngularMomentum and getLinearMomentum
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@700 042f3d55-54a8-47e9-b7fb-15903f145c44
---
SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index 0046edad1..5f672ea2f 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -1208,7 +1208,7 @@ Eigen::Vector3f BulletRobot::getComVelocityGlobal( VirtualRobot::RobotNodeSetPtr
Eigen::Vector3f BulletRobot::getLinearMomentumGlobal( VirtualRobot::RobotNodeSetPtr set)
{
- boost::recursive_mutex::scoped_lock scoped_lock(*engineMutexPtr);
+ MutexLockPtr lock = getScopedLock();
Eigen::Vector3f linMomentum = Eigen::Vector3f::Zero();
for (unsigned int i = 0; i < set->getSize(); i++)
{
@@ -1224,7 +1224,7 @@ Eigen::Vector3f BulletRobot::getLinearMomentumGlobal( VirtualRobot::RobotNodeSet
Eigen::Vector3f BulletRobot::getAngularMomentumGlobal( VirtualRobot::RobotNodeSetPtr set)
{
- boost::recursive_mutex::scoped_lock scoped_lock(*engineMutexPtr);
+ MutexLockPtr lock = getScopedLock();
Eigen::Vector3f angMomentum = Eigen::Vector3f::Zero();
for (unsigned int i = 0; i < set->getSize(); i++)
{
--
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