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German Larrain committed d0a5a8d

backport of 8889e0c3c594

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Files changed (1)

ars/model/robot/joints.py

-
-# Created on 2011.10.31
-#
-# @author: german
-
 from abc import ABCMeta, abstractmethod
 
 import ode
 import ars.exceptions as exc
 
 class Joint:
-	"""
-	Abstract class. Not coupled (at all) with ODE or any other collision library/engine
+	"""Abstract class. Not coupled (at all) with ODE or any other collision
+	library/engine.
+
 	"""
 	__metaclass__ = ABCMeta
 
 			inner_joint = ode.HingeJoint(world)
 			inner_joint.attach(body1.inner_object, body2.inner_object)
 			inner_joint.setAnchor(anchor)
-			inner_joint.setAxis(axis) # see contrib.Ragdoll.addHingeJoint for possible modification
+			# TODO: see contrib.Ragdoll.addHingeJoint for possible modification
+			inner_joint.setAxis(axis)
 
 			# TODO: necessary?
 			lo_stop = -ode.Infinity
 			inner_joint = ode.UniversalJoint(world)
 			inner_joint.attach(body1.inner_object, body2.inner_object)
 			inner_joint.setAnchor(anchor)
-			inner_joint.setAxis1(axis1) # see contrib.Ragdoll.addHingeJoint for possible modification
+			# TODO: see contrib.Ragdoll.addHingeJoint for possible modification
+			inner_joint.setAxis1(axis1)
 			inner_joint.setAxis2(axis2)
 
 			# TODO: necessary?
 		except:
 			raise exc.PhysicsObjectCreationError(type='Universal joint')
 
+
 class BallSocket(Joint):
 	def __init__(self, world, body1, body2, anchor):
 
 			raise exc.ArsError('Joint is already stored')
 
 class JointFeedback:
-	def __init__(self, body1, body2, force1=None, force2=None, torque1=None, torque2=None):
+	def __init__(self, body1, body2, force1=None, force2=None, torque1=None,
+			torque2=None):
 		self._body1 = body1
 		self._body2 = body2
 		self.force1 = force1