From 30ae58a848491d1b782e346b5d35d68ea06ba6af Mon Sep 17 00:00:00 2001 From: Tomas Lorente Date: Thu, 3 Dec 2020 16:19:00 -0300 Subject: [PATCH] Reviews comments Signed-off-by: Tomas Lorente --- bullet/src/SDFFeatures.cc | 2 ++ bullet/src/SimulationFeatures.hh | 7 +++++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/bullet/src/SDFFeatures.cc b/bullet/src/SDFFeatures.cc index 94ed39182..74c752c0d 100644 --- 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 index c59577a1c..56d3b1026 100644 --- a/bullet/src/SimulationFeatures.hh +++ b/bullet/src/SimulationFeatures.hh @@ -45,8 +45,11 @@ class SimulationFeatures : public: std::vector 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(); }; + { + // TODO(lobotuerk): Implement contacts getter, could be like https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=2855 + ignerr << "Dummy GetContactsFromLastStep implementation"; + return std::vector(); + }; }; }