Remove collision groups implementation

Signed-off-by: Jorge Perez <[email protected]>
gazebosim · Mar 3, 2021 · d022c34 · d022c34
1 parent 4cf6b4e
commit d022c34
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Showing 2 changed files with 1 addition and 20 deletions.
diff --git a/bullet/src/Base.hh b/bullet/src/Base.hh
@@ -126,18 +126,12 @@ inline Eigen::Vector3d convert(btVector3 vec)
 class Base : public Implements3d<FeatureList<Feature>>
 {
   public: std::size_t entityCount = 0;
-  public: std::size_t collisionGroup = 6;
 
   public: inline std::size_t GetNextEntity()
   {
     return entityCount++;
   }
 
-  public: inline std::size_t GetNextCollisionGroup()
-  {
-    return collisionGroup++;
-  }
-
   public: inline Identity InitiateEngine(std::size_t /*_engineID*/) override
   {
     const auto id = this->GetNextEntity();
@@ -157,10 +151,6 @@ class Base : public Implements3d<FeatureList<Feature>>
   {
     const auto id = this->GetNextEntity();
     this->models[id] = std::make_shared<ModelInfo>(_modelInfo);
-
-    // A collision mask for each different model
-    this->collisionGroups[id] = 1 << GetNextCollisionGroup();
-
     return this->GenerateIdentity(id, this->models.at(id));
   }
 
@@ -200,7 +190,6 @@ class Base : public Implements3d<FeatureList<Feature>>
   public: std::unordered_map<std::size_t, LinkInfoPtr> links;
   public: std::unordered_map<std::size_t, CollisionInfoPtr> collisions;
   public: std::unordered_map<std::size_t, JointInfoPtr> joints;
-  public: std::unordered_map<std::size_t, std::size_t> collisionGroups;
 
   public: int internalTicksDivider = 0;
 

diff --git a/bullet/src/SDFFeatures.cc b/bullet/src/SDFFeatures.cc
@@ -117,16 +117,9 @@ Identity SDFFeatures::ConstructSdfLink(
 
   const auto &world = this->worlds.at(modelInfo->world)->world;
 
-  // Models collide with everything except themselves
-  // const int modelCollisionGroup = 1 << this->collisionGroups.at(_modelID);
-  // const int collisionMask = -1 ^ modelCollisionGroup;
-  // world->addRigidBody(body, modelCollisionGroup, collisionMask);
+  // Links collide with everything except elements sharing a joint
   world->addRigidBody(body);
 
-  // bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
-  // int collisionFilterGroup = isDynamic ? 1 << this->collisionGroups.at(_modelID) : int(btBroadphaseProxy::StaticFilter);
-  // int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) ^ collisionFilterGroup : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
-  // world->addRigidBody(body, collisionFilterGroup, collisionFilterMask);
   // Generate an identity for it
   const auto linkIdentity = this->AddLink({name, body, _modelID, pose, mass,
     linkInertiaDiag});
@@ -184,7 +177,6 @@ Identity SDFFeatures::ConstructSdfCollision(
                               ->GetElement("ode");
   const auto mu = odeFriction->Get<btScalar>("mu");
   const auto mu2 = odeFriction->Get<btScalar>("mu2");
-  // const auto mu3 = odeFriction->Get<btScalar>("mu3");
 
   // Get restitution
   // const auto restitution = surfaceElement->GetElement("bounce")