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Print warning once from BulletCollisionDetector::collide/distance #1546

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Apr 2, 2021
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Print warning once from BulletCollisionDetector::collide/distance #1546

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38 changes: 28 additions & 10 deletions dart/collision/bullet/BulletCollisionDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -284,12 +284,18 @@ bool BulletCollisionDetector::collide(
if (!checkGroupValidity(this, group2))
return false;

dtwarn << "[BulletCollisionDetector::collide] collide(group1, group2) "
<< "supposed to check collisions of the objects in group1 against the "
<< "objects in group2. However, the current implementation of this "
<< "function checks for all the objects against each other of both "
<< "group1 and group2, which is an incorrect behavior. This bug will "
<< "be fixed in the next patch release. (see #717 for the details)\n";
static bool warned = false;
if (!warned)
{
dtwarn
<< "[BulletCollisionDetector::collide] collide(group1, group2) "
<< "supposed to check collisions of the objects in group1 against the "
<< "objects in group2. However, the current implementation of this "
<< "function checks for all the objects against each other of both "
<< "group1 and group2, which is an incorrect behavior. This bug will "
<< "be fixed in the next patch release. (see #717 for the details)\n";
warned = true;
}

mGroupForFiltering.reset(new BulletCollisionGroup(shared_from_this()));
auto bulletCollisionWorld = mGroupForFiltering->getBulletCollisionWorld();
Expand Down Expand Up @@ -321,8 +327,14 @@ double BulletCollisionDetector::distance(
const DistanceOption& /*option*/,
DistanceResult* /*result*/)
{
dtwarn << "[BulletCollisionDetector::distance] This collision detector does "
<< "not support (signed) distance queries. Returning 0.0.\n";
static bool warned = false;
if (!warned)
{
dtwarn
<< "[BulletCollisionDetector::distance] This collision detector does "
<< "not support (signed) distance queries. Returning 0.0.\n";
warned = true;
}

return 0.0;
}
Expand All @@ -334,8 +346,14 @@ double BulletCollisionDetector::distance(
const DistanceOption& /*option*/,
DistanceResult* /*result*/)
{
dtwarn << "[BulletCollisionDetector::distance] This collision detector does "
<< "not support (signed) distance queries. Returning.\n";
static bool warned = false;
if (!warned)
{
dtwarn
<< "[BulletCollisionDetector::distance] This collision detector does "
<< "not support (signed) distance queries. Returning.\n";
warned = true;
}

return 0.0;
}
Expand Down