Set Bullet as the exclusive collision detection algorithm. #584
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felixvd
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I didn't know that that's possible. I can't think of many reasons why you would want to switch collision detection algorithms, so if this works it's fine with me.
doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
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Co-authored-by: Felix von Drigalski <FvDrigalski@gmail.com>
j-petit
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davetcoleman
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Just a thought: should this exclusive argument default to true in the main moveit repo?
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I don't think it's worth changing. In MoveIt2, this argument went bye-bye completely. |
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Co-authored-by: Felix von Drigalski <FvDrigalski@gmail.com>
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This sets Bullet as the exclusive collision detection algorithm and adds a comment. I believe it's not well-known that MoveIt was designed to maintain a list of collision detection algorithms and switch between them at runtime. However, this is an advanced feature that is not well-tested and I already found one bug. So I don't think we should be recommending it to the world.
The documentation on this exclusive arg is here.