fix

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Jul 3, 2024 · 9117975 · 9117975
1 parent 5a05b5d
commit 9117975
Showing 1 changed file with 5 additions and 7 deletions.
diff --git a/bullet-featherstone/src/Base.cc b/bullet-featherstone/src/Base.cc
@@ -166,14 +166,12 @@ void GzCollisionDispatcher::dispatchAllCollisionPairs(
       continue;
     }
 
-    int numContacts = contactManifold->getNumContacts();
-    totalContacts += numContacts;
-
-   const btCompoundShape *compoundShape0 =
-       dynamic_cast<const btCompoundShape *>(ob0->getCollisionShape());
-   const btCompoundShape *compoundShape1 =
-       dynamic_cast<const btCompoundShape *>(ob1->getCollisionShape());
+    const btCompoundShape *compoundShape0 =
+        dynamic_cast<const btCompoundShape *>(ob0->getCollisionShape());
+    const btCompoundShape *compoundShape1 =
+        dynamic_cast<const btCompoundShape *>(ob1->getCollisionShape());
 
+    int numContacts = contactManifold->getNumContacts();
     for (int j = 0; j < numContacts; ++j)
     {
       btManifoldPoint& pt = contactManifold->getContactPoint(j);