linux/windows inconsistent joint behavior

The code listed below does a different thing in Linux than Windows (both
version 1.8). Notice the orientation of the little block and the way it is
turning. I  develop in windows and run simulations in linux, so a quick fix
would be appreciated.

-rick


@include "PhysicalControl.tz"
@include "Joint.tz"
@include "MultiBody.tz"
@include "Link.tz"
@include "Shape.tz"
@include "Stationary.tz"

# base link is red

Controller JointTest.


PhysicalControl : JointTest {
 + variables:

  body1 (object).



 + to init:

  # make floor
  new Stationary register with-shape
    (new Shape init-with-cube size (100, 0.2, 100))
    at-location (0, -10, 0).

  # make the hinged thing
  body1 = new Body.

  #position the body
  #body1 move to (-1, 7, 3).
  #body1 rotate around-axis (0,0,1) by 0.6.
  #body1 set-color to (0, .7, 0).


  self point-camera at (0, -10, 0) from (0, 5, 15).
  self set-display-text to "hello" at-x -.98 at-y -.98.
  self set-background-color to (0.4, 0.4, 0.4).
  self full-gravity.



 + to catch-key-0-down: body1 set-vel.


}

%do Shape objects have physics defined?
%maybe mutating(in the object oriented sense) the shape, rotating it, would
be useful

MultiBody : Body {

 + variables:
  childLink (object).
  baseLink (object).
  joint (object).
  cubeShape (object).
  cubeShape1 (object).
  cubeLength (float).
  length (int).
                longAxis (vector).

  nothing (object).

 + to init:
  #length = {5,8,6,8}.
  #print length.
  #cubeLength = 5.


                longAxis = (1,0,0).

  nothing = new Link.
  print nothing + 0.

  cubeLength = 4.5. #messes up if not initialized
  cubeShape = new Shape.
  cubeShape init-with-cube size (cubeLength/4,
     cubeLength/4,cubeLength).

  cubeShape1 = new Shape.
  cubeShape1 init-with-cube size (cubeLength/6,
     cubeLength/6,cubeLength/4).

  # make base
  baseLink = new Link.
  baseLink set shape cubeShape.
  baseLink set-color to (1,0,0).
  self register with-link baseLink.

  # make child piece
  childLink = new Link.
  childLink set shape cubeShape1.
  self register with-link childLink.






    #self register with-link childLink. only register root

    joint = new RevoluteJoint.

    # Attach joint to child at certain angle.
    joint set-relative-rotation-matrix to
                                  (self orien).


           joint link parent baseLink
                             to-child childLink
                             with-normal ((self orien)*(self axis))
                             with-parent-point ((longAxis * 0.7) + (self
displacement))
               with-child-point (longAxis * -0.7).

                  # need this, could be a bug, because the previous
                  # "link" command already specified it
    joint set-child-link-point to (longAxis * -0.7).

    joint set-strength-limit to 100.


                  joint set-double-spring
                          with-strength 100
                          with-max 100 ############
                          with-min -100.







  joint set-joint-velocity to -0.2.

         #joint set-joint-damping to 1.





        + to axis:
                return (1.00000, 0.00000, 0.00000).

        + to orien:
                return [ (0.00000, 0.00000, 1.00000), (0.00000, 1.00000,
0.00000), (-1.00000, 0.00000, 0.00000) ].

        + to displacement:
                return (2.00000, 0.00000, -1.00000).




        + to iterate:
                print (joint get-joint-position).

 + to set-vel:

  print (joint get-joint-velocity).
                joint set-joint-velocity to 0.
  #baseLink set-joint-velocity to 1000.
  #childLink set-joint-velocity to -1000.
  #joint set-joint-velocity to 3.

}

RevoluteJoint : TurningRevoluteJoint {
 + to iterate:



  a (float).
  a = self get-joint-position.

                #self set-joint-velocity to 0.

                if ((self get-joint-position) < .2):
                    if ((self get-joint-position) >= -0.1): {
                        print (self get-joint-position).
                        self set-joint-velocity to .3.
                        }




  ##if a < .5: self set-joint-velocity to .3.
  ##if a > 1.5: self set-joint-velocity to -.3.
  ##print (self get-joint-position).
  #self set-joint-velocity to 5.
}

#RevoluteJoint : KneeJoint  {
#: + to iterate:

RevoluteJoint : UnidirectionalRevoluteJoint {
 + to iterate:
  if (self get-joint-velocity) > 0:
       self set-joint-velocity to 0.
}






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