##

helper_physics_generator.hh
Go to the documentation of this file.
/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _HELPER_PHYSICS_GENERATOR_HH_
#define _HELPER_PHYSICS_GENERATOR_HH_
#include "gazebo/gazebo_config.h"
#define BULLET_SUPPORT
#define WORLD_STEP_BULLET_LEMKE
#define WORLD_STEP_BULLET_PGS
#ifdef HAVE_BULLET
# undef BULLET_SUPPORT
# define BULLET_SUPPORT , "bullet"
# undef WORLD_STEP_BULLET_PGS
# define WORLD_STEP_BULLET_PGS , "BULLET_PGS"
# ifdef LIBBULLET_VERSION_GT_282
# undef WORLD_STEP_BULLET_LEMKE
# define WORLD_STEP_BULLET_LEMKE , "BULLET_LEMKE"
# endif
#endif
#define SIMBODY_SUPPORT
#define DART_SUPPORT
#define WORLD_STEP_DART_PGS
#ifdef HAVE_SIMBODY
# undef SIMBODY_SUPPORT
# define SIMBODY_SUPPORT , "simbody"
#endif
#ifdef HAVE_DART
# undef DART_SUPPORT
# define DART_SUPPORT , "dart"
# undef WORLD_STEP_DART_PGS
# define WORLD_STEP_DART_PGS , "DART_PGS"
#endif
#define PHYSICS_ENGINE_VALUES ::testing::Values("ode" \
BULLET_SUPPORT \
SIMBODY_SUPPORT \
DART_SUPPORT \
)
#define WORLD_STEP_SOLVERS ::testing::Values("ODE_DANTZIG" \
WORLD_STEP_DART_PGS \
WORLD_STEP_BULLET_PGS \
WORLD_STEP_BULLET_LEMKE \
)
#endif