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Set Bullet as the exclusive collision detection algorithm. #584

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Merged
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Apr 28, 2021
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Set Bullet as the exclusive collision detection algorithm. #584

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Set Bullet as the exclusive collision detection algorithm.
AndyZe Feb 3, 2021
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AndyZe Feb 5, 2021
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AndyZe Mar 10, 2021
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10 changes: 7 additions & 3 deletions doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,8 +163,11 @@ int main(int argc, char** argv)
// Changing the collision detector to Bullet
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// The active collision detector is set from the planning scene using the specific collision detector allocator for
// Bullet.
g_planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create());
// Bullet. The second argument indicates that Bullet will be the exclusive collision detection algorithm; the
// default FCL will not be available anymore. Having one exclusive collision detection algorithm helps performance
// a bit and is much more common.
g_planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create(),
true /* exclusive */);
// For understanding the interactive interactive_robot, please refer to the Visualizing Collisions tutorial.
// CALL_SUB_TUTORIAL CCD
// CALL_SUB_TUTORIAL CCD_2
Expand Down Expand Up @@ -209,7 +212,8 @@ int main(int argc, char** argv)
// again set as the active collision detector.
robot_model::RobotModelPtr robot_model = moveit::core::loadTestingRobotModel("panda");
auto planning_scene = std::make_shared<planning_scene::PlanningScene>(robot_model);
planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create());
planning_scene->setActiveCollisionDetector(collision_detection::CollisionDetectorAllocatorBullet::create(),
/* exclusive = */ true);

// The box is added and the robot brought into its position.
Eigen::Isometry3d box_pose{ Eigen::Isometry3d::Identity() };
Expand Down