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Bullet TesseractCompoundCollisionAlgorithm bugfix #1008

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merged 3 commits into from
May 31, 2024
Merged

Bullet TesseractCompoundCollisionAlgorithm bugfix #1008

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3fcc2a1
- Apply [bugfix](https://github.com/bulletphysics/bullet3/commit/fce1…
rjoomen May 31, 2024
693240f
Fix for older bullet versions (e.g. on Ubuntu Focal)
rjoomen May 31, 2024
7df3c22
Fix 2 for older bullet versions (e.g. on Ubuntu Focal)
rjoomen May 31, 2024
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3 changes: 1 addition & 2 deletions tesseract_collision/bullet/src/convex_hull_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,7 @@ int createConvexHull(tesseract_common::VectorVector3d& vertices,
for (int i = 0; i < num_verts; i++)
{
btVector3& v = conv.vertices[i];
vertices.push_back(
Eigen::Vector3d(static_cast<double>(v.getX()), static_cast<double>(v.getY()), static_cast<double>(v.getZ())));
vertices.emplace_back(static_cast<double>(v.getX()), static_cast<double>(v.getY()), static_cast<double>(v.getZ()));
}

auto num_faces = static_cast<size_t>(conv.faces.size());
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15 changes: 15 additions & 0 deletions tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,12 +164,27 @@ struct TesseractCompoundLeafCallback : btDbvt::ICollide

if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{
#if BT_BULLET_VERSION >= 300
btTransform preTransform = childTrans;
if (this->m_compoundColObjWrap->m_preTransform != nullptr)
{
preTransform = preTransform * (*(this->m_compoundColObjWrap->m_preTransform));
}
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
childShape,
m_compoundColObjWrap->getCollisionObject(),
newChildWorldTrans,
preTransform,
-1,
index);
#else
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
childShape,
m_compoundColObjWrap->getCollisionObject(),
newChildWorldTrans,
-1,
index);
#endif

btCollisionAlgorithm* algo = nullptr;
bool allocatedAlgorithm = false;
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