100 lines
2.4 KiB
C++
100 lines
2.4 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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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/PhysicsEngine.hh"
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#include "gazebo/physics/PhysicsFactory.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/util/system.hh"
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#include "gazebo/gazebo_config.h"
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GZ_PHYSICS_VISIBLE
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void RegisterODEPhysics();
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#ifdef HAVE_SIMBODY
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GZ_PHYSICS_VISIBLE
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void RegisterSimbodyPhysics();
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#endif
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#ifdef HAVE_BULLET
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GZ_PHYSICS_VISIBLE
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void RegisterBulletPhysics();
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#endif
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#ifdef HAVE_DART
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GZ_PHYSICS_VISIBLE
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void RegisterDARTPhysics();
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#endif
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using namespace gazebo;
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using namespace physics;
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std::map<std::string, PhysicsFactoryFn> PhysicsFactory::engines;
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//////////////////////////////////////////////////
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void PhysicsFactory::RegisterAll()
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{
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RegisterODEPhysics();
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#ifdef HAVE_SIMBODY
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RegisterSimbodyPhysics();
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#endif
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#ifdef HAVE_BULLET
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RegisterBulletPhysics();
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#endif
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#ifdef HAVE_DART
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RegisterDARTPhysics();
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#endif
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}
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//////////////////////////////////////////////////
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void PhysicsFactory::RegisterPhysicsEngine(std::string classname,
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PhysicsFactoryFn factoryfn)
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{
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engines[classname] = factoryfn;
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}
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//////////////////////////////////////////////////
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PhysicsEnginePtr PhysicsFactory::NewPhysicsEngine(const std::string &_classname,
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WorldPtr _world)
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{
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PhysicsEnginePtr result;
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std::map<std::string, PhysicsFactoryFn>::iterator iter =
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engines.find(_classname);
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if (iter != engines.end())
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result = (iter->second)(_world);
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else
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gzerr << "Invalid Physics Type[" << _classname << "]\n";
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return result;
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}
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//////////////////////////////////////////////////
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bool PhysicsFactory::IsRegistered(const std::string &_name)
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{
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return (engines.count(_name) > 0);
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}
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