From 18c8b0d0e7e99cafd97db6dc322e2442191d2e90 Mon Sep 17 00:00:00 2001
From: Russ Tedrake <russt@mit.edu>
Date: Sat, 1 Feb 2014 11:41:11 -0500
Subject: [PATCH] drake_debug_mex fails with a useful error when mex file tries
 a mexCallMATLAB.

---
 .gitignore           |  1 +
 util/CMakeLists.txt  |  1 +
 util/debugMexLib.cpp | 18 +++++++++++++++++-
 3 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 33ec5b588723..ca6364ba18e8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -117,3 +117,4 @@ solvers/test/regenSummary
 solvers/test/singular_solutions
 solvers/test/startRegen_0
 solvers/test/startRegen_1
+.#*
diff --git a/util/CMakeLists.txt b/util/CMakeLists.txt
index b9c94dd1ceea..e9cf8af7eea0 100644
--- a/util/CMakeLists.txt
+++ b/util/CMakeLists.txt
@@ -9,6 +9,7 @@ add_mex(drakeUtil SHARED drakeUtil.cpp)
 pods_install_libraries(drakeUtil)
 
 add_mex(debugMex SHARED debugMexLib.cpp)
+#set_property( SOURCE debugMexLib.cpp PROPERTY COMPILE_FLAGS -DMX_COMPAT_32 )
 add_mex(drake_debug_mex EXECUTABLE drakeDebugMex.cpp)
 
 if (eigen3_FOUND)
diff --git a/util/debugMexLib.cpp b/util/debugMexLib.cpp
index be0b95899737..9d0333c4760f 100644
--- a/util/debugMexLib.cpp
+++ b/util/debugMexLib.cpp
@@ -5,13 +5,29 @@
  *      Author: russt
  */
 
+#include <iostream>
 #include <matrix.h>
 #include <mat.h>
 
+using namespace std;
 
 mxArray *mxGetProperty(const mxArray *pa, mwIndex index, const char *propname)
 {
-	return mxGetField(pa,index,propname);
+  return mxGetField(pa,index,propname);
 }
 
+extern "C" {
+int mexCallMATLAB(int nlhs, mxArray *plhs[], int nrhs,
+  mxArray *prhs[], const char *functionName)
+{
+  cerr << "Invalid mex file: Calls to mexCallMATLAB are not supported by drake_debug_mex" << endl;
+  return 0;;
+}
+
+mxArray *mexCallMATLABWithTrap(int nlhs, mxArray *plhs[], int nrhs, mxArray *prhs[], const char *functionName)
+{
+  cerr << "Invalid mex file: Calls to mexCallMATLAB are not supported by drake_debug_mex" << endl;
+  return NULL;
+}
 
+}