Fixes for bullet-featherstone.

Signed-off-by: Benjamin Perseghetti <[email protected]>
gazebosim · Jun 12, 2024 · d8401c2 · d8401c2
1 parent c41510a
commit d8401c2
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 0 deletions.
diff --git a/bullet-featherstone/src/SDFFeatures.cc b/bullet-featherstone/src/SDFFeatures.cc
@@ -970,6 +970,7 @@ bool SDFFeatures::AddSdfCollision(
     const auto height = static_cast<btScalar>(cone->Length());
     shape =
       std::make_unique<btConeShapeZ>(radius, height);
+    shape->setMargin(0.0);
   }
   else if (const auto *cylinder = geom->CylinderShape())
   {

diff --git a/bullet-featherstone/src/ShapeFeatures.cc b/bullet-featherstone/src/ShapeFeatures.cc
@@ -247,6 +247,7 @@ Identity ShapeFeatures::AttachConeShape(
   const auto height = static_cast<btScalar>(_height);
   auto shape =
     std::make_unique<btConeShapeZ>(radius, height);
+  shape->setMargin(0.0);
 
   auto identity = this->AddCollision(
     CollisionInfo{