From 40bb322995ce91fac47b5184ea3372223bb3d479 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Thu, 28 Mar 2024 10:56:15 -0700
Subject: [PATCH] w

---
 dart/config.hpp.in                   | 2 ++
 tests/integration/test_Collision.cpp | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
index 7ee2997fd7a80..329ad5fcb9103 100644
--- a/dart/config.hpp.in
+++ b/dart/config.hpp.in
@@ -98,3 +98,5 @@
 #cmakedefine01 DART_USE_SYSTEM_IMGUI
 
 #cmakedefine01 DART_BUILD_PROFILE
+
+#cmakedefine ODE_WITH_LIBCCD_BOX_CYL
diff --git a/tests/integration/test_Collision.cpp b/tests/integration/test_Collision.cpp
index 6af10c0f08d0f..e7693b8f5d879 100644
--- a/tests/integration/test_Collision.cpp
+++ b/tests/integration/test_Collision.cpp
@@ -772,7 +772,7 @@ TEST_F(Collision, testCylinderCylinder)
   // fcl_mesh_fcl->setContactPointComputationMethod(FCLCollisionDetector::FCL);
   // testCylinderCylinder(fcl_mesh_fcl);
 
-#if HAVE_ODE
+#if HAVE_ODE && !defined(ODE_WITH_LIBCCD_BOX_CYL)
   auto ode = OdeCollisionDetector::create();
   testCylinderCylinder(ode);
 #endif