Test a multi-world simulation with DART and bullet collision detector #368
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Upstream support introduced in gazebosim/gz-sim#684. In similar setup, ODE crashes due to gazebosim/gz-sim#18, however, replacing ODE with bullet should prevent that. This setup seems a good candidate whether the aim is:
threading
or in C++ withstd::thread
).This test is simple enough that also ODE does not crash, but the simulation slows down considerably when the detector has to deal with contact between the sphere and the ground. Using bullet seems faster in this case.
Note: I also tried a more complex single-world simulation (the panda manipulation example) and bullet with both pgs and dantzig solvers seems working fine. However, compared to the default ODE collision detector, the RTF is much slower (3-5x).
cc @nicholaspalomo