Fix bullet related segfaults on macOS

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Apr 6, 2023 · f2b1d36 · f2b1d36
1 parent 12baaf7
commit f2b1d36
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/bullet-featherstone/src/Base.hh b/bullet-featherstone/src/Base.hh
@@ -354,8 +354,10 @@ class Base : public Implements3d<FeatureList<Feature>>
   public: std::unordered_map<std::size_t, CollisionInfoPtr> collisions;
   public: std::unordered_map<std::size_t, JointInfoPtr> joints;
 
-  public: std::vector<std::unique_ptr<btGImpactMeshShape>> meshesGImpact;
+  // Note, the order of triangleMeshes and meshesGImpact is important. Reversing
+  // the order causes segfaults on macOS during destruction.
   public: std::vector<std::unique_ptr<btTriangleMesh>> triangleMeshes;
+  public: std::vector<std::unique_ptr<btGImpactMeshShape>> meshesGImpact;
 };
 
 }  // namespace bullet_featherstone

diff --git a/test/plugins/CMakeLists.txt b/test/plugins/CMakeLists.txt
@@ -21,7 +21,12 @@ foreach(plugin IN LISTS plugins)
 endforeach()
 
 if (DART_FOUND)
-  target_link_libraries(MockDoublePendulum PUBLIC ${DART_LIBRARIES})
+  # Linking against libdart-collision-bullet causes a segfault on macOS for
+  # some reason. We'll remove it since MockDoublePendulum doesn't use bullet
+  # for collision checking.
+  set(DART_LIBRARIES_NO_BULLET ${DART_LIBRARIES})
+  list(REMOVE_ITEM DART_LIBRARIES_NO_BULLET dart-collision-bullet)
+  target_link_libraries(MockDoublePendulum PUBLIC ${DART_LIBRARIES_NO_BULLET})
   target_compile_definitions(MockDoublePendulum PRIVATE
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
   if (MSVC)