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dartsim: To not call dart::collision::GzOdeCollisionDetector::create() in ConstructEmptyWorld #674

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dartsim: To not call dart::collision::GzOdeCollisionDetector::create() in ConstructEmptyWorld #674

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4 changes: 2 additions & 2 deletions dartsim/src/EntityManagementFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
Expand Down Expand Up @@ -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();
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1 change: 1 addition & 0 deletions dartsim/src/WorldFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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