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conda-forge / dartsim-feedstock

A conda-smithy repository for dartsim.
BSD 3-Clause "New" or "Revised" License
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Cone/Cone and Cylinder/Cylinder collisions are not working when using ODECollisionDetector #39

Closed traversaro closed 6 months ago

traversaro commented 1 year ago

Comment:

Currently it is disabled as it fails: https://github.com/conda-forge/dartsim-feedstock/pull/38#issuecomment-1554792029 .

traversaro commented 6 months ago

Given what I learned in the past two days (https://github.com/conda-forge/gz-physics-feedstock/pull/24 and https://github.com/conda-forge/dartsim-feedstock/pull/60) I renamed the issue, and it is not only a test that was not passing, but an high level behavior difference that users may notice. My main guess is that the issue is due to some details of the libode build in conda-forge, but this needs to be investigated.

fyi @jslee02 this is problably the bug for which you had to disable testConeCone and testCylinderCylinder in the pixi CI upstream in dart.

traversaro commented 6 months ago

I did some tests, and it seems that the problem is that the conda-forge's libode is compiled without ccd support, while Debian's libode is compiled with libccd. Compiling locally libode with ccd enabled, the dart test pass fine.

jslee02 commented 6 months ago

I recall that the tests also failed in the latest Archlinux. It could probably be the same issue. Thank you for investigating this issue!