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Signed-off-by: Tomas Lorente <[email protected]>
gazebosim · Dec 3, 2020 · 30ae58a · 30ae58a
1 parent 62f1900
commit 30ae58a
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/bullet/src/SDFFeatures.cc b/bullet/src/SDFFeatures.cc
@@ -162,6 +162,8 @@ Identity SDFFeatures::ConstructSdfCollision(
     delete link->getCollisionShape();
     link->setCollisionShape(shape);
 
+    // We add the rigidbody to the world after it has collision, as
+    // non collision bodies don't get simulated on a dynamics world
     world->addRigidBody(link);
 
     return this->AddCollision({_collision.Name(), shape, _linkID,

diff --git a/bullet/src/SimulationFeatures.hh b/bullet/src/SimulationFeatures.hh
@@ -45,8 +45,11 @@ class SimulationFeatures :
 
   public: std::vector<ContactInternal> GetContactsFromLastStep(
       const Identity &/* _worldID */) const override
-      { // TODO(lobotuerk): Implement contacts getter, could be like https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=2855
-         return std::vector<ContactInternal>(); };
+      {
+        // TODO(lobotuerk): Implement contacts getter, could be like https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=2855
+        ignerr << "Dummy GetContactsFromLastStep implementation";
+        return std::vector<ContactInternal>();
+      };
 };
 
 }