90 lines
3.0 KiB
C++
90 lines
3.0 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/*
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* Desc: Factory for creating physics engine
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* Author: Nate Koenig
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* Date: 21 May 2009
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*/
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#ifndef _PHYSICSFACTORY_HH_
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#define _PHYSICSFACTORY_HH_
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#include <string>
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#include <map>
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \def PhysicsFactoryFn
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/// \brief Prototype for physics factory functions.
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typedef PhysicsEnginePtr (*PhysicsFactoryFn) (WorldPtr world);
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/// \class PhysicsFactory PhysicsFactory.hh physics/physics.hh
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/// \brief The physics factory instantiates different physics engines.
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class GZ_PHYSICS_VISIBLE PhysicsFactory
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{
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/// \brief Register everything.
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public: static void RegisterAll();
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/// \brief Register a physics class.
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/// \param[in] _className Name of the physics class.
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/// \param[in] _factoryfn Function pointer used to create a physics
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/// engine.
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public: static void RegisterPhysicsEngine(std::string _className,
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PhysicsFactoryFn _factoryfn);
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/// \brief Create a new instance of a physics engine.
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/// \param[in] _className Name of the physics class.
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/// \param[in] _world World to pass to the created physics engine.
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public: static PhysicsEnginePtr NewPhysicsEngine(
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const std::string &_className, WorldPtr _world);
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/// \brief Check if a physics engine is registered.
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/// \param[in] _name Name of the physics engine.
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/// \return True if physics engine is registered, false otherwise.
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public: static bool IsRegistered(const std::string &_name);
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/// \brief A list of registered physics classes.
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private: static std::map<std::string, PhysicsFactoryFn> engines;
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};
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/// \brief Static physics registration macro
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///
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/// Use this macro to register physics engine with the server.
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/// \param[in] name Physics type name, as it appears in the world file.
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/// \param[in] classname C++ class name for the physics engine.
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#define GZ_REGISTER_PHYSICS_ENGINE(name, classname) \
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PhysicsEnginePtr New##classname(WorldPtr _world) \
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{ \
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return PhysicsEnginePtr(new gazebo::physics::classname(_world)); \
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} \
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void Register##classname() \
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{\
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PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
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}
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/// \}
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}
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}
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#endif
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