Move code from world.cc to joint.cc that we forgot before.

TODO

+0. Urgent / Important
+
+* Go through all the STEPCORE_META_OBJECT calls and see how they need to be
+  changed after the big refactor. 
+   - This means actually understanding STEPCORE_META_OBJECT, which seems to be
+     undocumented...
+
 1. StepCore.
 
 * implement compile flags:

stepcore/joint.cc

@@ -27,4 +27,48 @@ STEPCORE_META_OBJECT(Joint, QT_TRANSLATE_NOOP("ObjectClass", "Joint"), QT_TR_NOO
 		     MetaObject::ABSTRACT,,)
 
 
+void ConstraintsInfo::setDimension(int newVariablesCount, int newConstraintsCount, int newContactsCount)
+{
+//     std::cerr << "   ConstraintsInfo::setDimension("
+//       << newVariablesCount <<","<< newConstraintsCount <<"," << newContactsCount << ")\n";
+    
+    int totalConstraintsCount = newConstraintsCount+newContactsCount;
+
+    jacobian.resize(totalConstraintsCount, newVariablesCount);
+    jacobianDerivative.resize(totalConstraintsCount, newVariablesCount);
+    inverseMass.resize(newVariablesCount);
+    force.resize(newVariablesCount);
+    value.resize(totalConstraintsCount);
+    derivative.resize(totalConstraintsCount);
+    if (totalConstraintsCount>0)
+    {
+      derivative.setZero();
+      value.setZero();
+    }
+    forceMin.resize(totalConstraintsCount);
+    forceMax.resize(totalConstraintsCount);
+    
+    contactsCount = newContactsCount;
+    constraintsCount = newConstraintsCount;
+    variablesCount = newVariablesCount;
+}
+
+void ConstraintsInfo::clear()
+{
+    jacobian.setZero();
+    jacobianDerivative.setZero();
+    if(inverseMass.size()>0)
+    {
+      inverseMass.setZero();
+    }
+    if(forceMin.size()>0)
+    {
+      forceMin.fill(-HUGE_VAL);
+      forceMax.fill(HUGE_VAL);
+    }
+
+    collisionFlag = false;
+}
+
+
 } // namespace StepCore

stepcore/world.cc

@@ -37,49 +37,6 @@ STEPCORE_META_OBJECT(World, QT_TRANSLATE_NOOP("ObjectClass", "World"), QT_TR_NOO
         STEPCORE_PROPERTY_RW  (bool, errorsCalculation, QT_TR_NOOP("errorsCalculation"), STEPCORE_UNITS_NULL,
                         QT_TR_NOOP("Enable global error calculation"), errorsCalculation, setErrorsCalculation))
 
-void ConstraintsInfo::setDimension(int newVariablesCount, int newConstraintsCount, int newContactsCount)
-{
-//     std::cerr << "   ConstraintsInfo::setDimension("
-//       << newVariablesCount <<","<< newConstraintsCount <<"," << newContactsCount << ")\n";
-    
-    int totalConstraintsCount = newConstraintsCount+newContactsCount;
-
-    jacobian.resize(totalConstraintsCount, newVariablesCount);
-    jacobianDerivative.resize(totalConstraintsCount, newVariablesCount);
-    inverseMass.resize(newVariablesCount);
-    force.resize(newVariablesCount);
-    value.resize(totalConstraintsCount);
-    derivative.resize(totalConstraintsCount);
-    if (totalConstraintsCount>0)
-    {
-      derivative.setZero();
-      value.setZero();
-    }
-    forceMin.resize(totalConstraintsCount);
-    forceMax.resize(totalConstraintsCount);
-    
-    contactsCount = newContactsCount;
-    constraintsCount = newConstraintsCount;
-    variablesCount = newVariablesCount;
-}
-
-void ConstraintsInfo::clear()
-{
-    jacobian.setZero();
-    jacobianDerivative.setZero();
-    if(inverseMass.size()>0)
-    {
-      inverseMass.setZero();
-    }
-    if(forceMin.size()>0)
-    {
-      forceMin.fill(-HUGE_VAL);
-      forceMax.fill(HUGE_VAL);
-    }
-
-    collisionFlag = false;
-}
-
 World::World()
     : _time(0), _timeScale(1), _errorsCalculation(false),
       _solver(NULL), _collisionSolver(NULL), _constraintSolver(NULL),