From f304893db5bb6ef4c06eba9f25a506fb1feb4d2e Mon Sep 17 00:00:00 2001
From: alxbilger <alxbilger@users.noreply.github.com>
Date: Thu, 8 Jul 2021 12:34:37 +0200
Subject: [PATCH] Replace BruteForceDetection by
 BruteForceNarrowPhase+BVHNarrowPhase

BruteForceDetection is deprecated
---
 python/stlib/scene/contactheader.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/python/stlib/scene/contactheader.py b/python/stlib/scene/contactheader.py
index eee3f32..4d7eec1 100644
--- a/python/stlib/scene/contactheader.py
+++ b/python/stlib/scene/contactheader.py
@@ -20,7 +20,8 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
 
             rootNode : {
                 DefaultPipeline,
-                BruteForceDetection,
+                BruteForceBroadPhase,
+                BVHNarrowPhase,
                 RuleBasedContactManager,
                 LocalMinDistance
             }
@@ -28,7 +29,8 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
     if applyTo.getObject("DefaultPipeline", warning=False) is None:
             applyTo.createObject('DefaultPipeline')
 
-    applyTo.createObject('BruteForceDetection')
+    applyTo.createObject('BruteForceBroadPhase', name="N2")
+    applyTo.createObject('BVHNarrowPhase')
 
     applyTo.createObject('RuleBasedContactManager', responseParams="mu="+str(frictionCoef),
                                                     name='Response', response='FrictionContact')