Disable collision shape caching in bullet and fcl (#1116)

tesseract-robotics · Jan 29, 2025 · 708141a · 708141a
1 parent e2f847a
commit 708141a
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Showing 2 changed files with 15 additions and 11 deletions.
diff --git a/tesseract_collision/bullet/src/bullet_utils.cpp b/tesseract_collision/bullet/src/bullet_utils.cpp
@@ -333,10 +333,14 @@ std::shared_ptr<btCollisionShape> createShapePrimitive(const tesseract_geometry:
 
 std::shared_ptr<btCollisionShape> createShapePrimitive(const CollisionShapeConstPtr& geom, CollisionObjectWrapper* cow)
 {
-  std::shared_ptr<btCollisionShape> shape = BulletCollisionShapeCache::get(geom);
-  if (shape != nullptr)
-    return shape;
-
+  // std::shared_ptr<btCollisionShape> shape = BulletCollisionShapeCache::get(geom);
+  // if (shape != nullptr)
+  // {
+  //   // sleep(1000);
+  //   return shape;
+  // }
+
+  std::shared_ptr<btCollisionShape> shape;
   switch (geom->getType())
   {
     case tesseract_geometry::GeometryType::BOX:
@@ -401,7 +405,7 @@ std::shared_ptr<btCollisionShape> createShapePrimitive(const CollisionShapeConst
       // LCOV_EXCL_STOP
   }
 
-  BulletCollisionShapeCache::insert(geom, shape);
+  // BulletCollisionShapeCache::insert(geom, shape);
   return shape;
 }
 

diff --git a/tesseract_collision/fcl/src/fcl_utils.cpp b/tesseract_collision/fcl/src/fcl_utils.cpp
@@ -207,13 +207,13 @@ CollisionGeometryPtr createShapePrimitiveHelper(const CollisionShapeConstPtr& ge
 
 CollisionGeometryPtr createShapePrimitive(const CollisionShapeConstPtr& geom)
 {
-  CollisionGeometryPtr shape = FCLCollisionGeometryCache::get(geom);
-  if (shape != nullptr)
-    return shape;
+  // CollisionGeometryPtr shape = FCLCollisionGeometryCache::get(geom);
+  // if (shape != nullptr)
+  //   return shape;
 
-  shape = createShapePrimitiveHelper(geom);
-  FCLCollisionGeometryCache::insert(geom, shape);
-  return shape;
+  // shape = createShapePrimitiveHelper(geom);
+  // FCLCollisionGeometryCache::insert(geom, shape);
+  return createShapePrimitiveHelper(geom);
 }
 
 bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void* data)