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test with GzCollisionDispatcher
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
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iche033 committed Jul 11, 2024
1 parent ba6f4d0 commit 4fb4b57
Showing 1 changed file with 0 additions and 10 deletions.
10 changes: 0 additions & 10 deletions bullet-featherstone/src/Base.cc
Original file line number Diff line number Diff line change
Expand Up @@ -219,18 +219,8 @@ WorldInfo::WorldInfo(std::string name_)
{
this->collisionConfiguration =
std::make_unique<btDefaultCollisionConfiguration>();
#ifdef _WIN32
// Use original btCollisionDispatcher on window as GzCollisionDispatcher
// causes tests to crash.
// \todo(iche033) Investigate cause of crash
this->dispatcher =
std::make_unique<btCollisionDispatcher>(collisionConfiguration.get());
#else
// Use custom GzCollisionDispatcher that reduces number of contact points
// for convex decomposed mesh collisions.
this->dispatcher =
std::make_unique<GzCollisionDispatcher>(collisionConfiguration.get());
#endif
this->broadphase = std::make_unique<btDbvtBroadphase>();
this->solver = std::make_unique<btMultiBodyConstraintSolver>();
this->world = std::make_unique<btMultiBodyDynamicsWorld>(
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