Fix 2 for older bullet versions (e.g. on Ubuntu Focal)

tesseract-robotics · May 31, 2024 · f59b78c · f59b78c
1 parent 4e08d66
commit f59b78c
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp b/tesseract_collision/bullet/src/tesseract_compound_collision_algorithm.cpp
@@ -164,20 +164,27 @@ 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(),
                                             newChildWorldTrans,
                                             preTransform,
                                             -1,
                                             index);
+#else
+      btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,
+                                            childShape,
+                                            m_compoundColObjWrap->getCollisionObject(),
+                                            newChildWorldTrans,
+                                            -1,
+                                            index);
+#endif
 
       btCollisionAlgorithm* algo = nullptr;
       bool allocatedAlgorithm = false;