Build error: bullet and OpenRAVE::CollisionReport

[stephane-caron]

Hi all,

Today I got the following error while building from a fresh pull of openrave's git repository (either production or master branches):

/Software/openrave/plugins/bulletrave/bulletcollision.h: In member function ‘bool BulletCollisionChecker::CheckCollisionP(btOverlapFilterCallback_, OpenRAVE::CollisionReportPtr)’:
/Software/openrave/plugins/bulletrave/bulletcollision.h:335:25: error: ‘class OpenRAVE::CollisionReport’ has no member named ‘numCols’
/Software/openrave/plugins/bulletrave/bulletcollision.h: In member function ‘virtual bool BulletCollisionChecker::CheckCollision(const RAY&, OpenRAVE::KinBody::LinkConstPtr, OpenRAVE::CollisionReportPtr)’:
/Software/openrave/plugins/bulletrave/bulletcollision.h:612:25: error: ‘class OpenRAVE::CollisionReport’ has no member named ‘numCols’
/Software/openrave/plugins/bulletrave/bulletcollision.h: In member function ‘virtual bool BulletCollisionChecker::CheckCollision(const RAY&, OpenRAVE::KinBodyConstPtr, OpenRAVE::CollisionReportPtr)’:
/Software/openrave/plugins/bulletrave/bulletcollision.h:681:25: error: ‘class OpenRAVE::CollisionReport’ has no member named ‘numCols’
/Software/openrave/plugins/bulletrave/bulletcollision.h: In member function ‘virtual bool BulletCollisionChecker::CheckCollision(const RAY&, OpenRAVE::CollisionReportPtr)’:
/Software/openrave/plugins/bulletrave/bulletcollision.h:745:25: error: ‘class OpenRAVE::CollisionReport’ has no member named ‘numCols’
make[2]: *_* [plugins/bulletrave/CMakeFiles/bulletrave.dir/bulletrave.cpp.o] Error 1
make[1]: *** [plugins/bulletrave/CMakeFiles/bulletrave.dir/all] Error 2
make: *** [all] Error 2

A problem in the bulletrave plugin?

[baxelrod-bdai]

Same here. This break seems to have happened sometime after revision 4779. (Sept. 3, 2014).
I am guessing it is due to the checkins related to collision checking.

My system specs:
Linux 3.2.0-68-generic x86_64
gcc version 4.6.3
Linux Mint 13 Maya (Basically Ubuntu 12.04)

[baxelrod-bdai]

However, I can compile the latest revision (4912) fine on my 32 bit i686 machine. Linux 3.2.0-72, gcc version 4.6.3, also Ubuntu 12.04.

[stephane-caron]

Strange... How do you get your revision number? Maybe you didn't compile the bulletrave plugin on your i686 machine?

I just pulled branches master and production. In both, from the root of the repository, I get:

~/tmp/openrave$ grep -r "numCols" .
./plugins/bulletrave/bulletcollision.h:                report->numCols = numContacts;
./plugins/bulletrave/bulletcollision.h:                report->numCols = 1;
./plugins/bulletrave/bulletcollision.h:                report->numCols = 1;
./plugins/bulletrave/bulletcollision.h:                report->numCols = 1;

So the field numCols is used in the BulletRAVE plugin, but defined nowhere. A quickfix is to add it to include/openrave/collisionchecker.h inside the CollisionReport class, e.g., line 57.

[stephane-caron]

PS: excepts that it seems to generate a checksum error at runtime:

[plugindatabase.h:257 CreateInterface] Create Interface: openrave exception , 
plugin /usr/local/share/openrave-0.9/plugins/libbulletrave.so: openrave
(InvalidInterfaceHash): [OpenRAVE::InterfaceBasePtr OpenRAVECreateInterface(
OpenRAVE::InterfaceType, const string&, const char*, const char*, 
OpenRAVE::EnvironmentBasePtr):62] bad interface collisionchecker hash: 
88c89d4b551673d988fb2704001aa32b!=2f4d148c6e413ec486ca92b0d05a1224

[baxelrod-bdai]

Sorry, my revision numbers come from subversion access to the git repository. I am not sure how they correspond to git's versioning.

[CRubertRob]

Hi,

I had the same problem compiling from branch latest_stable.
Solution from #333 (comment) worked fine.

[heartnheart]

I can confirm this bug from latest_stable today.