Add Bullet physics engine support

robotology-legacy · Jun 29, 2021 · 4b6b0ce · 4b6b0ce
1 parent 976c4cf
commit 4b6b0ce
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diff --git a/scenario/src/gazebo/include/scenario/gazebo/World.h b/scenario/src/gazebo/include/scenario/gazebo/World.h
@@ -50,6 +50,9 @@ namespace scenario::gazebo {
         /// The physics engine included in the Dynamic Animation and Robotics
         /// Toolkit.
         Dart,
+
+        /// The physics engine included in Bullet Physics SDK.
+        Bullet,
     };
 } // namespace scenario::gazebo
 

diff --git a/scenario/src/gazebo/src/World.cpp b/scenario/src/gazebo/src/World.cpp
@@ -246,6 +246,8 @@ bool World::setPhysicsEngine(const PhysicsEngine engine)
         switch (engine) {
             case PhysicsEngine::Dart:
                 return "ignition-physics-dartsim-plugin";
+            case PhysicsEngine::Bullet:
+                return "ignition-physics-bullet-plugin";
         }
         return "";
     }();