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[DO NOT MERGE] Testing windows CI #667

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[DO NOT MERGE] Testing windows CI #667

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49 changes: 22 additions & 27 deletions bullet-featherstone/src/SimulationFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -65,45 +65,40 @@ SimulationFeatures::GetContactsFromLastStep(const Identity &_worldID) const
{
return outContacts;
}
GzCollisionDispatcher *dispatcher =
dynamic_cast<GzCollisionDispatcher *>(world->world->getDispatcher());

int numManifolds = world->world->getDispatcher()->getNumManifolds();
for (int i = 0; i < numManifolds; i++)
{
btPersistentManifold* contactManifold =
world->world->getDispatcher()->getManifoldByIndexInternal(i);
const btMultiBodyLinkCollider* ob0 =
const btMultiBodyLinkCollider* obA =
dynamic_cast<const btMultiBodyLinkCollider*>(contactManifold->getBody0());
const btMultiBodyLinkCollider* ob1 =
const btMultiBodyLinkCollider* obB =
dynamic_cast<const btMultiBodyLinkCollider*>(contactManifold->getBody1());
std::size_t collision1ID = std::numeric_limits<std::size_t>::max();
std::size_t collision2ID = std::numeric_limits<std::size_t>::max();

const btCompoundShape *compoundShape0 =
dynamic_cast<const btCompoundShape *>(ob0->getCollisionShape());
const btCompoundShape *compoundShape1 =
dynamic_cast<const btCompoundShape *>(ob1->getCollisionShape());

for (const auto & link : this->links)
{
if (obA == link.second->collider.get())
{
for (const auto &v : link.second->collisionNameToEntityId)
{
collision1ID = v.second;
}
}
if (obB == link.second->collider.get())
{
for (const auto &v : link.second->collisionNameToEntityId)
{
collision2ID = v.second;
}
}
}
int numContacts = contactManifold->getNumContacts();
for (int j = 0; j < numContacts; j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);

const btCollisionShape *colShape0 = dispatcher->FindCollisionShape(
compoundShape0, pt.m_index0);
const btCollisionShape *colShape1 = dispatcher->FindCollisionShape(
compoundShape1, pt.m_index1);

std::size_t collision0ID = std::numeric_limits<std::size_t>::max();
std::size_t collision1ID = std::numeric_limits<std::size_t>::max();
if (colShape0)
collision0ID = colShape0->getUserIndex();
else if (compoundShape0->getNumChildShapes() > 0)
collision0ID = compoundShape0->getChildShape(0)->getUserIndex();
if (colShape1)
collision1ID = colShape1->getUserIndex();
else if (compoundShape1->getNumChildShapes() > 0)
collision1ID = compoundShape1->getChildShape(0)->getUserIndex();

CompositeData extraData;

// Add normal, depth and wrench to extraData.
Expand All @@ -117,8 +112,8 @@ SimulationFeatures::GetContactsFromLastStep(const Identity &_worldID) const
extraContactData.depth = pt.getDistance();

outContacts.push_back(SimulationFeatures::ContactInternal {
this->GenerateIdentity(collision0ID, this->collisions.at(collision0ID)),
this->GenerateIdentity(collision1ID, this->collisions.at(collision1ID)),
this->GenerateIdentity(collision2ID, this->collisions.at(collision2ID)),
convert(pt.getPositionWorldOnA()), extraData});
}
}
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