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18#ifndef _HELPER_PHYSICS_GENERATOR_HH_
19#define _HELPER_PHYSICS_GENERATOR_HH_
21#include "gazebo/gazebo_config.h"
24#define WORLD_STEP_BULLET_LEMKE
25#define WORLD_STEP_BULLET_PGS
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"
38#define SIMBODY_SUPPORT
40#define WORLD_STEP_DART_PGS
43# undef SIMBODY_SUPPORT
44# define SIMBODY_SUPPORT , "simbody"
48# define DART_SUPPORT , "dart"
49# undef WORLD_STEP_DART_PGS
50# define WORLD_STEP_DART_PGS , "DART_PGS"
54#define PHYSICS_ENGINE_VALUES ::testing::Values("ode" \
61#define WORLD_STEP_SOLVERS ::testing::Values("ODE_DANTZIG" \
63 WORLD_STEP_BULLET_PGS \
64 WORLD_STEP_BULLET_LEMKE \