fixed bulletrave compilation as it used obsolete API

[cielavenir]

by the way compilation on libbullet 2.83 worked, so you could update CMakeList as well

[rdiankov]

@cielavenir doesn't look like dofbranches is used anywhere, so why not just:

pinfo->pbody->GetLinkTransformations(vtrans);

?

[cielavenir]

@rdiankov pushed

[cielavenir]

#795 appeared...

[cielavenir]

-Wshadow broke compilation, fixed quickly

[cielavenir]

may I ask how is this MR going?

[cielavenir]

@rdiankov thank you for checking #1336 . How about this - openrave build fails with libbullet installed.

[cielavenir]

@felixvd @hemangandhi @ntohge bulletrave failed to follow CollisionReport. Now should I give up this long-lasting pull request?

like

285.2 /openrave/plugins/bulletrave/bulletcollision.h: In member function 'virtual bool BulletCollisionChecker::CheckCollision(const OpenRAVE::RAY&, OpenRAVE::KinBodyConstPtr, OpenRAVE::CollisionReportPtr)':
285.2 /openrave/plugins/bulletrave/bulletcollision.h:685:25: error: 'class OpenRAVE::CollisionReport' has no member named 'plink1'
285.2   685 |                 report->plink1 = GetLinkFromCollision(const_cast<btCollisionObject*>(rayCallback.m_collisionObject));
285.2       |                         ^~~~~~
285.2 /openrave/plugins/bulletrave/bulletcollision.h:689:25: error: 'class OpenRAVE::CollisionReport' has no member named 'contacts'
285.2   689 |                 report->contacts.push_back(CONTACT(p,n.normalize3(),report->minDistance));
285.2       |                         ^~~~~~~~
285.2 /openrave/plugins/bulletrave/bulletcollision.h: In member function 'virtual bool BulletCollisionChecker::CheckCollision(const OpenRAVE::RAY&, OpenRAVE::CollisionReportPtr)':
285.2 /openrave/plugins/bulletrave/bulletcollision.h:750:25: error: 'class OpenRAVE::CollisionReport' has no member named 'plink1'
285.2   750 |                 report->plink1 = GetLinkFromCollision(const_cast<btCollisionObject*>(rayCallback.m_collisionObject));
285.2       |                         ^~~~~~
285.2 /openrave/plugins/bulletrave/bulletcollision.h:754:25: error: 'class OpenRAVE::CollisionReport' has no member named 'contacts'
285.2   754 |                 report->contacts.push_back(CONTACT(p,n.normalize3(),report->minDistance));
285.2       |                         ^~~~~~~