From b69a38898c9ba3815bd98474b647535cdcd57b52 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 21 Aug 2024 12:09:03 +0200
Subject: [PATCH] dartsim: To not call
 dart::collision::GzOdeCollisionDetector::create() in ConstructEmptyWorld

---
 dartsim/src/EntityManagementFeatures.cc | 4 ++--
 dartsim/src/WorldFeatures.cc            | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/dartsim/src/EntityManagementFeatures.cc b/dartsim/src/EntityManagementFeatures.cc
index 990ca5631..441675ba5 100644
--- a/dartsim/src/EntityManagementFeatures.cc
+++ b/dartsim/src/EntityManagementFeatures.cc
@@ -28,7 +28,7 @@
 #include <dart/collision/CollisionFilter.hpp>
 #include <dart/collision/CollisionObject.hpp>
 
-#include "GzOdeCollisionDetector.hh"
+#include <dart/collision/dart/DARTCollisionDetector.hpp>
 
 namespace gz {
 namespace physics {
@@ -725,7 +725,7 @@ Identity EntityManagementFeatures::ConstructEmptyWorld(
     const Identity &/*_engineID*/, const std::string &_name)
 {
   const auto &world = std::make_shared<dart::simulation::World>(_name);
-  auto collisionDetector = dart::collision::GzOdeCollisionDetector::create();
+  auto collisionDetector = dart::collision::DARTCollisionDetector::create();
   world->getConstraintSolver()->setCollisionDetector(collisionDetector);
 
   auto &collOpt = world->getConstraintSolver()->getCollisionOption();
diff --git a/dartsim/src/WorldFeatures.cc b/dartsim/src/WorldFeatures.cc
index da7088580..c256b8b57 100644
--- a/dartsim/src/WorldFeatures.cc
+++ b/dartsim/src/WorldFeatures.cc
@@ -62,6 +62,7 @@ void WorldFeatures::SetWorldCollisionDetector(
   }
   else
   {
+    collisionDetector = dart::collision::GzOdeCollisionDetector::create();
     gzerr << "Collision detector [" << _collisionDetector
            << "] is not supported, defaulting to ["
            << collisionDetector->getType() << "]." << std::endl;