From 2a57f5e8192b59a39ad70dbe7c05077ae2f5d6f6 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 30 Jun 2021 13:40:36 +0200
Subject: [PATCH] Revert upstream PR 690

It causes a performance regression when contacts are involved
---
 scenario/src/plugins/Physics/Physics.cc | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/scenario/src/plugins/Physics/Physics.cc b/scenario/src/plugins/Physics/Physics.cc
index aad84fe3f..e800d2cd1 100644
--- a/scenario/src/plugins/Physics/Physics.cc
+++ b/scenario/src/plugins/Physics/Physics.cc
@@ -454,20 +454,16 @@ class ignition::gazebo::systems::PhysicsPrivate
   /// \brief Feature list to handle collisions.
   public: struct CollisionFeatureList : ignition::physics::FeatureList<
             MinimumFeatureList,
+            ignition::physics::GetContactsFromLastStepFeature,
             ignition::physics::sdf::ConstructSdfCollision>{};
 
-  /// \brief Feature list to handle contacts information.
-  public: struct ContactFeatureList : ignition::physics::FeatureList<
-            CollisionFeatureList,
-            ignition::physics::GetContactsFromLastStepFeature>{};
-
   /// \brief Collision type with collision features.
   public: using ShapePtrType = ignition::physics::ShapePtr<
             ignition::physics::FeaturePolicy3d, CollisionFeatureList>;
 
   /// \brief World type with just the minimum features. Non-pointer.
   public: using WorldShapeType = ignition::physics::World<
-            ignition::physics::FeaturePolicy3d, ContactFeatureList>;
+            ignition::physics::FeaturePolicy3d, CollisionFeatureList>;
 
   //////////////////////////////////////////////////
   // Collision filtering with bitmasks
@@ -551,7 +547,6 @@ class ignition::gazebo::systems::PhysicsPrivate
           physics::World,
           MinimumFeatureList,
           CollisionFeatureList,
-          ContactFeatureList,
           NestedModelFeatureList,
           CollisionDetectorFeatureList,
           SolverFeatureList>;
@@ -603,7 +598,6 @@ class ignition::gazebo::systems::PhysicsPrivate
   public: using EntityCollisionMap = EntityFeatureMap3d<
             physics::Shape,
             CollisionFeatureList,
-            ContactFeatureList,
             CollisionMaskFeatureList,
             FrictionPyramidSlipComplianceFeatureList
             >;
@@ -3130,7 +3124,7 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
   }
 
   auto worldCollisionFeature =
-      this->entityWorldMap.EntityCast<ContactFeatureList>(worldEntity);
+      this->entityWorldMap.EntityCast<CollisionFeatureList>(worldEntity);
   if (!worldCollisionFeature)
   {
     static bool informed{false};