PhysicsFactory.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: Factory for creating physics engine
 * Author: Nate Koenig
 * Date: 21 May 2009
 * SVN info:$
 */

#ifndef PHYSICSFACTORY_HH
#define PHYSICSFACTORY_HH

#include <string>
#include <map>

#include "physics/PhysicsTypes.hh"

namespace gazebo
{
    namespace physics
  {
 
    // Prototype for sensor factory functions
    typedef PhysicsEnginePtr (*PhysicsFactoryFn) (WorldPtr world);
   
    class PhysicsFactory
    {
      public: static void RegisterAll();
  
      public: static void RegisterPhysicsEngine(std::string classname,
                                          PhysicsFactoryFn factoryfn);
    
      public: static PhysicsEnginePtr NewPhysicsEngine(const std::string &classname, WorldPtr world);
    
      private: static std::map<std::string, PhysicsFactoryFn> engines;
    };
    
    
  #define GZ_REGISTER_PHYSICS_ENGINE(name, classname) \
  PhysicsEnginePtr New##classname(WorldPtr world) \
  { \
    return PhysicsEnginePtr(new gazebo::physics::classname(world)); \
  } \
  void Register##classname() \
  {\
    PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
  }
   
  }

}
#endif