From 7df3c2290a12a85b3de8e0c0368ca2b2632593b6 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rjoomen@yahoo.com>
Date: Fri, 31 May 2024 13:18:51 +0200
Subject: [PATCH] Fix 2 for older bullet versions (e.g. on Ubuntu Focal)

---
 .../src/tesseract_compound_collision_algorithm.cpp    | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp b/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
index a957185e6e6..4ba7e3c72f7 100644
--- a/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
+++ b/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
@@ -164,13 +164,12 @@ struct TesseractCompoundLeafCallback : btDbvt::ICollide
 
     if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
     {
-      btTransform preTransform = childTrans;
 #if BT_BULLET_VERSION >= 300
+      btTransform preTransform = childTrans;
       if (this->m_compoundColObjWrap->m_preTransform != nullptr)
       {
         preTransform = preTransform * (*(this->m_compoundColObjWrap->m_preTransform));
       }
-#endif
       btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
                                             childShape,
                                             m_compoundColObjWrap->getCollisionObject(),
@@ -178,6 +177,14 @@ struct TesseractCompoundLeafCallback : btDbvt::ICollide
                                             preTransform,
                                             -1,
                                             index);
+#else
+      btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
+                                            childShape,
+                                            m_compoundColObjWrap->getCollisionObject(),
+                                            newChildWorldTrans,
+                                            -1,
+                                            index);
+#endif
 
       btCollisionAlgorithm* algo = nullptr;
       bool allocatedAlgorithm = false;