helper_physics_generator.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _HELPER_PHYSICS_GENERATOR_HH_
19 #define _HELPER_PHYSICS_GENERATOR_HH_
20 
21 #include "gazebo/gazebo_config.h"
22 
23 #define BULLET_SUPPORT
24 #define WORLD_STEP_BULLET_LEMKE
25 #define WORLD_STEP_BULLET_PGS
26 
27 #ifdef HAVE_BULLET
28 # undef BULLET_SUPPORT
29 # define BULLET_SUPPORT , "bullet"
30 # undef WORLD_STEP_BULLET_PGS
31 # define WORLD_STEP_BULLET_PGS , "BULLET_PGS"
32 # ifdef LIBBULLET_VERSION_GT_282
33 # undef WORLD_STEP_BULLET_LEMKE
34 # define WORLD_STEP_BULLET_LEMKE , "BULLET_LEMKE"
35 # endif
36 #endif
37 
38 #define SIMBODY_SUPPORT
39 #define DART_SUPPORT
40 #define WORLD_STEP_DART_PGS
41 
42 #ifdef HAVE_SIMBODY
43 # undef SIMBODY_SUPPORT
44 # define SIMBODY_SUPPORT , "simbody"
45 #endif
46 #ifdef HAVE_DART
47 # undef DART_SUPPORT
48 # define DART_SUPPORT , "dart"
49 # undef WORLD_STEP_DART_PGS
50 # define WORLD_STEP_DART_PGS , "DART_PGS"
51 #endif
52 
54 #define PHYSICS_ENGINE_VALUES ::testing::Values("ode" \
55  BULLET_SUPPORT \
56  SIMBODY_SUPPORT \
57  DART_SUPPORT \
58  )
59 
61 #define WORLD_STEP_SOLVERS ::testing::Values("ODE_DANTZIG" \
62  WORLD_STEP_DART_PGS \
63  WORLD_STEP_BULLET_PGS \
64  WORLD_STEP_BULLET_LEMKE \
65  )
66 
67 #endif