helper_physics_generator.hh
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1/*
2 * Copyright (C) 2012 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