Check if any entity actually has a ContactSensorData component before… (

gazebosim#2474)



Signed-off-by: Shameek Ganguly <[email protected]>

src/systems/physics/Physics.cc

@@ -3794,6 +3794,18 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
   if (!_ecm.HasComponentType(components::ContactSensorData::typeId))
     return;
 
+  // Also check if any entity currently has a ContactSensorData component.
+  bool needContactSensorData = false;
+  _ecm.Each<components::Collision, components::ContactSensorData>(
+      [&](const Entity &/*unused*/, components::Collision *,
+          components::ContactSensorData */*unused*/) -> bool
+      {
+        needContactSensorData = true;
+        return false;
+      });
+  if (!needContactSensorData)
+    return;
+
   // TODO(addisu) If systems are assumed to only have one world, we should
   // capture the world Entity in a Configure call
   Entity worldEntity = _ecm.EntityByComponents(components::World());