68 lines
1.8 KiB
C++
68 lines
1.8 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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#ifndef _HELPER_PHYSICS_GENERATOR_HH_
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#define _HELPER_PHYSICS_GENERATOR_HH_
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#include "gazebo/gazebo_config.h"
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#define BULLET_SUPPORT
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#define WORLD_STEP_BULLET_LEMKE
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#define WORLD_STEP_BULLET_PGS
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#ifdef HAVE_BULLET
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# undef BULLET_SUPPORT
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# define BULLET_SUPPORT , "bullet"
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# undef WORLD_STEP_BULLET_PGS
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# define WORLD_STEP_BULLET_PGS , "BULLET_PGS"
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# ifdef LIBBULLET_VERSION_GT_282
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# undef WORLD_STEP_BULLET_LEMKE
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# define WORLD_STEP_BULLET_LEMKE , "BULLET_LEMKE"
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# endif
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#endif
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#define SIMBODY_SUPPORT
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#define DART_SUPPORT
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#define WORLD_STEP_DART_PGS
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#ifdef HAVE_SIMBODY
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# undef SIMBODY_SUPPORT
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# define SIMBODY_SUPPORT , "simbody"
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#endif
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#ifdef HAVE_DART
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# undef DART_SUPPORT
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# define DART_SUPPORT , "dart"
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# undef WORLD_STEP_DART_PGS
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# define WORLD_STEP_DART_PGS , "DART_PGS"
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#endif
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/// \brief Helper macro to instantiate gtest for different physics engines
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#define PHYSICS_ENGINE_VALUES ::testing::Values("ode" \
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BULLET_SUPPORT \
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SIMBODY_SUPPORT \
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DART_SUPPORT \
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)
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/// \brief Helper macro to instantiate gtest for different solvers
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#define WORLD_STEP_SOLVERS ::testing::Values("ODE_DANTZIG" \
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WORLD_STEP_DART_PGS \
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WORLD_STEP_BULLET_PGS \
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WORLD_STEP_BULLET_LEMKE \
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)
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#endif
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