collision: fix Bullet double-precision includes (6.16) #2334
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@ ## release-6.16 #2334 +/- ## ============================================= Coverage 58.68% 58.68% ============================================= Files 384 384 Lines 32056 32056 Branches 3870 3870 ============================================= Hits 18812 18812 Misses 13244 13244
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jslee02 force-pushed the issue/2332_release-6.16 branch from 33068eb to a3962f5 Compare Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
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Fixes #2332.
Background
When Bullet is built with double precision (
BT_USE_DOUBLE_PRECISION=1), DART 6.16 can violate the ODR becausedart/collision/bullet/BulletTypes.hppincluded Bullet headers directly, bypassingdart/collision/bullet/BulletInclude.hpp(which includesdart/config.hppfirst). This shows up as-Wodrwarnings and runtime failures (raycast returns no hits and then segfaults; Bullet-based collision regression tests fail).Changes
dart/collision/bullet/BulletTypes.hpp: include Bullet viadart/collision/bullet/BulletInclude.hppto ensure consistent Bullet precision macros across all translation units.tests/integration/test_Raycast.cpp: useASSERT_*before indexingmRayHits(avoids segfault when a hit is unexpectedly missing).Local verification
ctest -R '^(test_Raycast|test_Collision|test_ForceDependentSlip|test_Issue1184)$'.CMAKE_BUILD_PARALLEL_LEVEL=16 CTEST_PARALLEL_LEVEL=16 pixi run test,CMAKE_BUILD_PARALLEL_LEVEL=16 pixi run test-all, andCMAKE_BUILD_PARALLEL_LEVEL=16 pixi run -e gazebo test-gz.