Fix for older bullet versions (e.g. on Ubuntu Focal)

tesseract-robotics · May 31, 2024 · 693240f · 693240f
1 parent 3fcc2a1
commit 693240f
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp b/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
@@ -165,10 +165,12 @@ struct TesseractCompoundLeafCallback : btDbvt::ICollide
     if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
     {
       btTransform preTransform = childTrans;
+#if BT_BULLET_VERSION >= 300
       if (this->m_compoundColObjWrap->m_preTransform != nullptr)
       {
         preTransform = preTransform * (*(this->m_compoundColObjWrap->m_preTransform));
       }
+#endif
       btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
                                             childShape,
                                             m_compoundColObjWrap->getCollisionObject(),