DegreeOfFreedom class

dart/dynamics/BallJoint.cpp

@@ -49,6 +49,7 @@ BallJoint::BallJoint(const std::string& _name)
   : MultiDofJoint(_name),
     mR(Eigen::Isometry3d::Identity())
 {
+  updateDegreeOfFreedomNames();
 }
 
 //==============================================================================
@@ -65,6 +66,17 @@ void BallJoint::integratePositions(double _dt)
   mPositions = math::logMap(mR.linear());
 }
 
+//==============================================================================
+void BallJoint::updateDegreeOfFreedomNames()
+{
+  if(!mDofs[0]->isNamePreserved())
+    mDofs[0]->setName(mName + "_x", false);
+  if(!mDofs[1]->isNamePreserved())
+    mDofs[1]->setName(mName + "_y", false);
+  if(!mDofs[2]->isNamePreserved())
+    mDofs[2]->setName(mName + "_z", false);
+}
+
 //==============================================================================
 void BallJoint::updateLocalTransform()
 {

dart/dynamics/BallJoint.h

@@ -58,6 +58,9 @@ class BallJoint : public MultiDofJoint<3>
   // Documentation inherited
   virtual void integratePositions(double _dt);
 
+  // Documentation inherited
+  virtual void updateDegreeOfFreedomNames();
+
   // Documentation inherited
   virtual void updateLocalTransform();
 

dart/dynamics/BodyNode.cpp

@@ -391,16 +391,16 @@ void BodyNode::setParentJoint(Joint* _joint)
 
   if (mSkeleton)
   {
-    mSkeleton->mNameMgrForJoints.removeName(mParentJoint->getName());
-    mSkeleton->addEntryToJointNameMgr(_joint);
+    mSkeleton->unregisterJoint(mParentJoint);
+    mSkeleton->registerJoint(_joint);
   }
 
   if (mParentJoint)
     mParentJoint->mChildBodyNode = NULL;
 
   mParentJoint = _joint;
   mParentJoint->mChildBodyNode = this;
-  // TODO: Shouldn't we delete the original mParentJoint? Seems like the BodyNode
+  // TODO: Should we delete the original mParentJoint? Seems like the BodyNode
   // should be responsible for its parent joint
 }