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Prepare multiple physics engines support #338

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Apr 28, 2021
Merged

Prepare multiple physics engines support #338

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30 changes: 22 additions & 8 deletions cpp/scenario/gazebo/src/World.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include <ignition/gazebo/components/Name.hh>
#include <ignition/gazebo/components/ParentEntity.hh>
#include <ignition/gazebo/components/Physics.hh>
#include <ignition/gazebo/components/PhysicsEnginePlugin.hh>
#include <ignition/gazebo/components/Pose.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Vector3.hh>
Expand Down Expand Up @@ -271,16 +272,29 @@ bool World::insertWorldPlugin(const std::string& libName,

bool World::setPhysicsEngine(const PhysicsEngine engine)
{
std::string libName;
std::string className;

switch (engine) {
case PhysicsEngine::Dart:
libName = "PhysicsSystem";
className = "scenario::plugins::gazebo::Physics";
break;
// Get the name of the physics plugin
const std::string pluginLib = [&engine]() -> std::string {
switch (engine) {
case PhysicsEngine::Dart:
return "ignition-physics-dartsim-plugin";
}
return "";
}();

if (pluginLib.empty()) {
sError << "Failed to retrieve the name of physics plugin library";
return false;
}

// This component is read by the Physics system during its configuration
utils::setComponentData<ignition::gazebo::components::PhysicsEnginePlugin>(
m_ecm, m_entity, pluginLib);

// Vendored Physics system
const std::string libName = "PhysicsSystem";
const std::string className = "scenario::plugins::gazebo::Physics";

// Load the Physics system
if (!this->insertWorldPlugin(libName, className)) {
sError << "Failed to insert the physics plugin" << std::endl;
return false;
Expand Down