From 693240f394c9d2baad6912eb9caec03498d66d2e Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rjoomen@yahoo.com>
Date: Fri, 31 May 2024 12:17:25 +0200
Subject: [PATCH] Fix for older bullet versions (e.g. on Ubuntu Focal)

---
 .../bullet/src/tesseract_compound_collision_algorithm.cpp       | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp b/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
index 3dc8fec69f7..a957185e6e6 100644
--- 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(),