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Support Bullet on Edifice (#919)
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Signed-off-by: Louise Poubel <[email protected]>
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chapulina authored Jul 23, 2021
1 parent 31f34c2 commit 511287d
Showing 1 changed file with 9 additions and 1 deletion.
10 changes: 9 additions & 1 deletion src/systems/physics/Physics.cc
Original file line number Diff line number Diff line change
Expand Up @@ -151,7 +151,7 @@ class ignition::gazebo::systems::PhysicsPrivate
ignition::physics::FreeGroupFrameSemantics,
ignition::physics::LinkFrameSemantics,
ignition::physics::ForwardStep,
ignition::physics::RemoveEntities,
ignition::physics::RemoveModelFromWorld,
ignition::physics::sdf::ConstructSdfLink,
ignition::physics::sdf::ConstructSdfModel,
ignition::physics::sdf::ConstructSdfWorld
Expand Down Expand Up @@ -1184,6 +1184,14 @@ void PhysicsPrivate::CreateCollisionEntities(const EntityComponentManager &_ecm)
linkCollisionFeature->ConstructCollision(collision);
}

if (nullptr == collisionPtrPhys)
{
igndbg << "Failed to create collision [" << _name->Data()
<< "]. Does the physics engine support geometries of type ["
<< static_cast<int>(_geom->Data().Type()) << "]?" << std::endl;
return true;
}

this->entityCollisionMap.AddEntity(_entity, collisionPtrPhys);

// Check that the physics engine has a filter mask feature
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