ifdef for windows

Signed-off-by: Ian Chen <ichen@openrobotics.org>

bullet-featherstone/src/Base.cc

@@ -219,8 +219,18 @@ 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>(