[example][glut_add_delete_skels] Use bullet collision detector

dartsim · Mar 31, 2024 · 9437d60 · 9437d60
1 parent e98ee95
commit 9437d60
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt b/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt
@@ -4,8 +4,8 @@ get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 project(${example_name})
 
-set(required_components utils-urdf gui)
-set(required_libraries dart dart-utils-urdf dart-gui)
+set(required_components collision-bullet utils-urdf gui)
+set(required_libraries dart dart-collision-bullet dart-utils-urdf dart-gui)
 
 if(DART_IN_SOURCE_BUILD)
   dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})

diff --git a/examples/deprecated_examples/glut_add_delete_skels/Main.cpp b/examples/deprecated_examples/glut_add_delete_skels/Main.cpp
@@ -34,6 +34,8 @@
 
 #include <dart/utils/utils.hpp>
 
+#include <dart/collision/bullet/bullet.hpp>
+
 #include <dart/dart.hpp>
 
 #include <iostream>
@@ -47,6 +49,10 @@ int main(int argc, char* argv[])
   Eigen::Vector3d gravity(0.0, -9.81, 0.0);
   myWorld->setGravity(gravity);
 
+  // Set collision detector type
+  myWorld->getConstraintSolver()->setCollisionDetector(
+      dart::collision::BulletCollisionDetector::create());
+
   // create a window and link it to the world
   MyWindow window;
   window.setWorld(myWorld);