From 9437d606145e242d313a2fb9b1b3c2643447b39f Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Sat, 30 Mar 2024 18:04:16 -0700
Subject: [PATCH] [example][glut_add_delete_skels] Use bullet collision
 detector

---
 .../glut_add_delete_skels/CMakeLists.txt                    | 4 ++--
 examples/deprecated_examples/glut_add_delete_skels/Main.cpp | 6 ++++++
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt b/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt
index e912116a765b7..098159adab0d3 100644
--- 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
index da7df53f8824e..3ceebf9a5b1f1 100644
--- 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);