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Support Bullet on Edifice #919

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merged 2 commits into from
Jul 23, 2021
Merged

Support Bullet on Edifice #919

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658c50c
Support Bullet on Edifice
chapulina Jul 17, 2021
ab0d1af
Merge branch 'ign-gazebo5' into chapulina/5/bullet
chapulina Jul 23, 2021
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10 changes: 9 additions & 1 deletion src/systems/physics/Physics.cc
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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
Expand Down