diff --git a/BUILD.bazel b/BUILD.bazel
new file mode 100644
index 000000000..a4296ba48
--- /dev/null
+++ b/BUILD.bazel
@@ -0,0 +1,130 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
+)
+
+licenses(["notice"])  # Apache-2.0
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+    name = "physics_config_hh",
+    src = "include/gz/physics/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    defines = {
+        # These definitions are unused,
+        # this is merely to suppress generator warnings
+        "GZ_PHYSICS_ENGINE_INSTALL_DIR": "unused",
+    },
+    package = "physics",
+)
+
+gz_export_header(
+    name = "include/gz/physics/Export.hh",
+    export_base = "GZ_PHYSICS",
+    lib_name = "gz-physics",
+    visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+    "include/gz/physics/*.hh",
+    "include/gz/physics/detail/*.hh",
+])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+    ],
+)
+
+gz_include_header(
+    name = "physics_hh_genrule",
+    out = "include/gz/physics.hh",
+    hdrs = public_headers_no_gen + [
+        "include/gz/physics/config.hh",
+        "include/gz/physics/Export.hh",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/physics/config.hh",
+    "include/gz/physics/Export.hh",
+    "include/gz/physics.hh",
+]
+
+cc_library(
+    name = "physics",
+    srcs = sources,
+    hdrs = public_headers,
+    defines = [
+        'GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR=\\"unused\\"',
+        "GZ_PHYSICS_BAZEL_BUILD=true",
+    ],
+    includes = ["include"],
+    deps = [
+        GZ_ROOT + "math",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "plugin:core",
+        GZ_ROOT + "plugin:loader",
+        GZ_ROOT + "utils",
+    ],
+)
+
+cc_library(
+    name = "heightmap",
+    hdrs = [
+        "heightmap/include/gz/physics/heightmap/HeightmapShape.hh",
+        "heightmap/include/gz/physics/heightmap/detail/HeightmapShape.hh",
+    ],
+    includes = ["heightmap/include"],
+)
+
+cc_library(
+    name = "mesh",
+    hdrs = [
+        "mesh/include/gz/physics/mesh/MeshShape.hh",
+        "mesh/include/gz/physics/mesh/detail/MeshShape.hh",
+    ],
+    includes = ["mesh/include"],
+)
+
+cc_library(
+    name = "sdf",
+    hdrs = glob([
+        "sdf/include/gz/physics/sdf/*.hh",
+    ]),
+    includes = ["sdf/include"],
+    deps = [
+        GZ_ROOT + "sdformat",
+    ],
+)
+
+test_sources = glob(
+    include = ["src/*_TEST.cc"],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+    },
+    deps = [
+        ":physics",
+        GZ_ROOT + "physics/test:test_headers",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]
diff --git a/bullet-featherstone/BUILD.bazel b/bullet-featherstone/BUILD.bazel
new file mode 100644
index 000000000..1296d4658
--- /dev/null
+++ b/bullet-featherstone/BUILD.bazel
@@ -0,0 +1,45 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+)
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/plugin.cc",
+    ],
+)
+
+cc_library(
+    name = "bullet-featherstone",
+    srcs = sources + private_headers,
+    includes = ["include"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        GZ_ROOT + "common",
+        GZ_ROOT + "common/graphics",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics",
+        GZ_ROOT + "physics:sdf",
+        GZ_ROOT + "third_party/bullet3:BulletCollision",
+        GZ_ROOT + "third_party/bullet3:BulletDynamics",
+    ],
+)
+
+cc_binary(
+    name = "libgz-physics-bullet-featherstone-plugin.so",
+    srcs = [
+        "src/plugin.cc",
+    ],
+    linkshared = True,
+    visibility = GZ_VISIBILITY,
+    deps = [
+        ":bullet-featherstone",
+        GZ_ROOT + "plugin:register",
+    ],
+)
diff --git a/dartsim/BUILD.bazel b/dartsim/BUILD.bazel
new file mode 100644
index 000000000..17a14c709
--- /dev/null
+++ b/dartsim/BUILD.bazel
@@ -0,0 +1,55 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+
+public_headers = ["include/gz/physics/dartsim/World.hh"]
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/plugin.cc",
+    ],
+)
+
+cc_library(
+    name = "dartsim",
+    srcs = sources + private_headers,
+    hdrs = public_headers,
+    includes = ["include"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        GZ_ROOT + "common",
+        GZ_ROOT + "common/geospatial",
+        GZ_ROOT + "common/profiler",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics",
+        GZ_ROOT + "physics:heightmap",
+        GZ_ROOT + "physics:mesh",
+        GZ_ROOT + "physics:sdf",
+        GZ_ROOT + "third_party/dart:simulation",
+        GZ_ROOT + "third_party/dart:collision-bullet",
+        GZ_ROOT + "third_party/dart:collision-ode",
+    ],
+)
+
+cc_binary(
+    name = "libgz-physics-dartsim-plugin.so",
+    srcs = [
+        "src/plugin.cc",
+    ],
+    linkshared = True,
+    visibility = GZ_VISIBILITY,
+    deps = [
+        ":dartsim",
+        GZ_ROOT + "plugin:register",
+    ],
+)
diff --git a/include/gz/physics/config.hh.in b/include/gz/physics/config.hh.in
index d0c68462d..332fb10e4 100644
--- a/include/gz/physics/config.hh.in
+++ b/include/gz/physics/config.hh.in
@@ -27,6 +27,7 @@
 
 #define GZ_PHYSICS_VERSION "${PROJECT_VERSION}"
 #define GZ_PHYSICS_VERSION_FULL "${PROJECT_VERSION_FULL}"
+#define GZ_PHYSICS_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR}
 
 #define GZ_PHYSICS_ENGINE_INSTALL_DIR _Pragma ("GCC warning \"'GZ_PHYSICS_ENGINE_INSTALL_DIR' macro is deprecated, use gz::physics::getEngineInstallDir() function instead. \"") "${GZ_PHYSICS_ENGINE_INSTALL_DIR}"
 
diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc
index 7b9bcf459..56735383f 100644
--- a/src/InstallationDirectories.cc
+++ b/src/InstallationDirectories.cc
@@ -28,7 +28,7 @@ namespace gz
 {
 namespace physics
 {
-inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
+namespace {
 
 // We locally import the gz::common::joinPaths function
 // See https://github.com/gazebosim/gz-physics/pull/507#discussion_r1186919267
@@ -36,19 +36,20 @@ inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
 
 // Function imported from
 // https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/FilesystemBoost.cc#L507
-#ifndef WIN32
-static const char preferred_separator = '/';
+#ifndef _WIN32
+const char preferred_separator = '/';
 #else  // Windows
 static const char preferred_separator = '\\';
 #endif
-const std::string separator(const std::string &_p)
+std::string separator(const std::string &_p)
 {
   return _p + preferred_separator;
 }
 
+#ifdef _WIN32
 // Function imported from
 // https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L227
-std::string checkWindowsPath(const std::string _path)
+std::string checkWindowsPath(const std::string &_path)
 {
   if (_path.empty())
     return _path;
@@ -75,6 +76,7 @@ std::string checkWindowsPath(const std::string _path)
     result, std::regex("[<>:\"|?*]"), "");
   return result;
 }
+#endif
 
 // Function imported from
 // https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L256
@@ -142,14 +144,18 @@ std::string joinPaths(const std::string &_path1,
 #endif  // _WIN32
   return path;
 }
+}  // namespace
 
+inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
+#ifdef GZ_PHYSICS_BAZEL_BUILD
+std::string getInstallPrefix() { return "physics"; }
+#endif
 
 std::string getEngineInstallDir()
 {
   return gz::physics::joinPaths(
       getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR);
 }
-
-}
-}
-}
+}  // namespace GZ_PHYSICS_VERSION_NAMESPACE
+}  // namespace physics
+}  // namespace gz
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
new file mode 100644
index 000000000..3bb662543
--- /dev/null
+++ b/test/BUILD.bazel
@@ -0,0 +1,269 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+)
+
+cc_library(
+    name = "test_headers",
+    srcs = glob(["include/**/*.hh"]),
+    includes = ["include"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        GZ_ROOT + "common",
+        GZ_ROOT + "common/testing",
+        GZ_ROOT + "physics",
+        GZ_ROOT + "plugin:loader",
+    ],
+)
+
+cc_library(
+  name = "common_test",
+  hdrs = ["common_test/Worlds.hh"],
+  includes = ["common_test"],
+  data = [
+    ":resources",
+    "common_test/worlds",
+  ],
+  deps = [
+    ":test_headers",
+  ]
+)
+
+cc_library(
+    name = "common_test_dartsim",
+    data = [
+        GZ_ROOT + "physics/dartsim:libgz-physics-dartsim-plugin.so",
+    ],
+    deps = [
+      ":common_test"
+    ]
+)
+
+cc_library(
+    name = "common_test_bullet-featherstone",
+    data = [
+        GZ_ROOT + "physics/bullet-featherstone:libgz-physics-bullet-featherstone-plugin.so",
+    ],
+    deps = [
+      ":common_test"
+    ]
+)
+
+physics_engines = [
+    "dartsim",
+    "bullet-featherstone",
+]
+
+[cc_test(
+    name = "addexternalforcetorque_%s" % engine,
+    srcs = [
+        "common_test/addexternalforcetorque.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "basic_test_%s" % engine,
+    srcs = [
+        "common_test/basic_test.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "collisions_%s" % engine,
+    srcs = [
+        "common_test/collisions.cc",
+    ],
+    defines = [
+        'GZ_PHYSICS_RESOURCE_DIR=\\"physics/resources/\\"',
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "common/graphics",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:mesh",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "construct_empty_world_%s" % engine,
+    srcs = [
+        "common_test/construct_empty_world.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "free_joint_features_%s" % engine,
+    srcs = [
+        "common_test/free_joint_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "joint_features_%s" % engine,
+    srcs = [
+        "common_test/joint_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "kinematic_features_%s" % engine,
+    srcs = [
+        "common_test/kinematic_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "physics:sdf",
+        "@eigen3",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "link_features_%s" % engine,
+    srcs = [
+        "common_test/link_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "shape_features_%s" % engine,
+    srcs = [
+        "common_test/shape_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "simulation_features_%s" % engine,
+    srcs = [
+        "common_test/simulation_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+[cc_test(
+    name = "world_features_%s" % engine,
+    srcs = [
+        "common_test/world_features.cc",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+        "LIB_TO_TEST": "physics/%s/libgz-physics-%s-plugin.so" % (engine, engine),
+    },
+    deps = [
+        ":common_test_%s" % engine,
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics:sdf",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for engine in physics_engines]
+
+exports_files(["resources"])
diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt
index a35e2127a..49c904635 100644
--- a/test/common_test/CMakeLists.txt
+++ b/test/common_test/CMakeLists.txt
@@ -44,7 +44,6 @@ function(configure_common_test PHYSICS_ENGINE_NAME test_name)
   endif()
 endfunction()
 
-
 # Get bullet version using pkg_check_modules as it is not available
 # through the cmake module
 gz_pkg_check_modules_quiet(bullet_version_check "bullet")
@@ -71,7 +70,6 @@ foreach(test ${tests})
     )
   endif()
 
-
   install(TARGETS ${test_executable} DESTINATION ${TEST_INSTALL_DIR})
   configure_common_test("bullet" ${test_executable})
   configure_common_test("bullet-featherstone" ${test_executable})
diff --git a/test/include/test/TestLibLoader.hh b/test/include/test/TestLibLoader.hh
index a7f27abd3..b07d05528 100644
--- a/test/include/test/TestLibLoader.hh
+++ b/test/include/test/TestLibLoader.hh
@@ -41,13 +41,29 @@ class TestLibLoader
   {
     if (argc != 2)
     {
-      std::cerr << "Please provide the path to an engine plugin.\n"
-                << "Usage " <<  argv[0] << " <physics engine path>\n";
-      return false;
+      std::string envLibToTest;
+      if(!gz::utils::env("LIB_TO_TEST", envLibToTest))
+      {
+        std::cerr << "Please provide the path to an engine plugin.\n"
+                  << "Usage " <<  argv[0] << " <physics engine path>\n";
+        return false;
+      }
+      else
+      {
+        std::string &libToTest = LibToTest();
+        libToTest = envLibToTest;
+
+        std::cout << std::filesystem::current_path() << std::endl;
+        std::cout << envLibToTest << std::endl;
+        return true;
+      }
+    }
+    else
+    {
+      std::string &libToTest = LibToTest();
+      libToTest = argv[1];
+      return true;
     }
-    std::string &libToTest = LibToTest();
-    libToTest = argv[1];
-    return true;
   }
 
   /// \brief Get the name of the library to test
diff --git a/tpe/plugin/src/SimulationFeatures_TEST.cc b/tpe/plugin/src/SimulationFeatures_TEST.cc
index ddecee5de..25fff9ecc 100644
--- a/tpe/plugin/src/SimulationFeatures_TEST.cc
+++ b/tpe/plugin/src/SimulationFeatures_TEST.cc
@@ -52,7 +52,6 @@
 #include "World.hh"
 
 
-
 using namespace gz;
 
 struct TestFeatureList : physics::FeatureList<