helper_physics_generator.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012-2015 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 
25 #ifdef HAVE_BULLET
26 # undef BULLET_SUPPORT
27 # define BULLET_SUPPORT , "bullet"
28 #endif
29 
30 #define SIMBODY_SUPPORT
31 #define DART_SUPPORT
32 #define WORLD_STEP_DART_PGS
33 
34 #ifdef HAVE_SIMBODY
35 # undef SIMBODY_SUPPORT
36 # define SIMBODY_SUPPORT , "simbody"
37 #endif
38 #ifdef HAVE_DART
39 # undef DART_SUPPORT
40 # define DART_SUPPORT , "dart"
41 # undef WORLD_STEP_DART_PGS
42 # define WORLD_STEP_DART_PGS , "DART_PGS"
43 #endif
44 
46 #define PHYSICS_ENGINE_VALUES ::testing::Values("ode" \
47  BULLET_SUPPORT \
48  SIMBODY_SUPPORT \
49  DART_SUPPORT \
50  )
51 
53 #define WORLD_STEP_SOLVERS ::testing::Values("ODE_DANTZIG" \
54  WORLD_STEP_DART_PGS \
55  )
56 
57 #endif