From 2681ea0ce7c8a59088c84b1efc827d03e684d0db Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Thu, 30 Nov 2023 18:55:58 +0000
Subject: [PATCH] add bullet ver check in test

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 test/common_test/world_features.cc | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/test/common_test/world_features.cc b/test/common_test/world_features.cc
index c228768a2..98a9f3faf 100644
--- a/test/common_test/world_features.cc
+++ b/test/common_test/world_features.cc
@@ -16,6 +16,8 @@
 */
 #include <gtest/gtest.h>
 
+#include <LinearMath/btScalar.h>
+
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
 
@@ -417,8 +419,12 @@ TEST_F(WorldNestedModelTest, WorldConstructNestedModel)
     joint.SetParentName("world");
     joint.SetChildName("invalid_link");
     EXPECT_FALSE(worldModel->ConstructJoint(joint));
-    joint.SetChildName("parent_model::link1");
-    EXPECT_TRUE(worldModel->ConstructJoint(joint));
+    if (PhysicsEngineName(name) != "bullet-featherstone" ||
+        btGetVersion() >= 289)
+    {
+      joint.SetChildName("parent_model::link1");
+      EXPECT_TRUE(worldModel->ConstructJoint(joint));
+    }
 
     gz::physics::ForwardStep::Input input;
     gz::physics::ForwardStep::State state;