bazel: Updates for garden (minus ABI break)

BUILD.bazel

@@ -0,0 +1,140 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_FEATURES",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "gz_configure_header",
+ "gz_export_header",
+ "gz_include_header",
+)
+load(
+ "@gz//bazel/lint:lint.bzl",
+ "add_lint_tests",
+)
+load("@rules_license//rules:license.bzl", "license")
+
+package(
+ default_applicable_licenses = [GZ_ROOT + "physics:license"],
+ default_visibility = GZ_VISIBILITY,
+ features = GZ_FEATURES,
+)
+
+license(
+ name = "license",
+ package_name = "gz-physics",
+)
+
+licenses(["notice"])
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+ name = "config",
+ 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 = "physicshh_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 = glob([
+ "heightmap/include/gz/physics/heightmap/**/*.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(["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:common_test",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]
+
+add_lint_tests()

bullet-featherstone/BUILD.bazel

@@ -0,0 +1,50 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+)
+load(
+ "@gz//bazel/lint:lint.bzl",
+ "add_lint_tests",
+)
+
+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",
+ ],
+)
+
+add_lint_tests()

dartsim/BUILD.bazel

@@ -0,0 +1,206 @@
+load(
+ "@gz//bazel/skylark:build_defs.bzl",
+ "GZ_ROOT",
+ "GZ_VISIBILITY",
+ "gz_configure_header",
+ "gz_export_header",
+ "gz_include_header",
+)
+load(
+ "@gz//bazel/lint:lint.bzl",
+ "add_lint_tests",
+)
+
+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",
+ ],
+)
+
+# AddedMassFeatures_TEST must directly link with dart:simulation
+cc_test(
+ name = "AddedMassFeatures_TEST",
+ srcs = ["src/AddedMassFeatures_TEST.cc"] + private_headers + public_headers, # noqa: 501
+ copts = ["-fexceptions"],
+ data = [
+ "worlds",
+ ":libgz-physics-dartsim-plugin.so",
+ GZ_ROOT + "physics/test:resources",
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "physics",
+ },
+ includes = [
+ "include",
+ "src",
+ ],
+ local_defines = [
+ "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
+ "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
+ "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'", # noqa: 501
+ ],
+ deps = [
+ GZ_ROOT + "common/geospatial",
+ GZ_ROOT + "math/eigen3",
+ GZ_ROOT + "physics",
+ GZ_ROOT + "physics:heightmap",
+ GZ_ROOT + "physics:mesh",
+ GZ_ROOT + "physics:sdf",
+ GZ_ROOT + "physics/test:common_test",
+ GZ_ROOT + "third_party/dart:simulation",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+)
+
+# Base_TEST directly links against the dartsim library while the others
+# load the plugin library via gz-plugin
+cc_test(
+ name = "Base_TEST",
+ srcs = ["src/Base_TEST.cc"] + private_headers + public_headers,
+ copts = ["-fexceptions"],
+ data = [
+ "worlds",
+ GZ_ROOT + "physics/test:resources",
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "physics",
+ },
+ includes = [
+ "include",
+ "src",
+ ],
+ deps = [
+ ":dartsim",
+ GZ_ROOT + "physics/test:common_test",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+)
+
+# SDFFeatures_TEST must directly link with dart:simulation
+cc_test(
+ name = "SDFFeatures_TEST.cc",
+ srcs = ["src/SDFFeatures_TEST.cc"] + private_headers + public_headers,
+ copts = ["-fexceptions"],
+ data = [
+ "worlds",
+ ":libgz-physics-dartsim-plugin.so",
+ GZ_ROOT + "physics/test:resources",
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "physics",
+ },
+ includes = [
+ "include",
+ "src",
+ ],
+ local_defines = [
+ "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
+ "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
+ "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'", # noqa: 501
+ ],
+ deps = [
+ GZ_ROOT + "common/geospatial",
+ GZ_ROOT + "math/eigen3",
+ GZ_ROOT + "physics",
+ GZ_ROOT + "physics:heightmap",
+ GZ_ROOT + "physics:mesh",
+ GZ_ROOT + "physics:sdf",
+ GZ_ROOT + "physics/test:common_test",
+ GZ_ROOT + "third_party/dart:simulation",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+)
+
+test_sources = glob(
+ include = ["src/*_TEST.cc"],
+ exclude = [
+ "src/AddedMassFeatures_TEST.cc",
+ "src/Base_TEST.cc",
+ "src/SDFFeatures_TEST.cc",
+ ],
+)
+
+[cc_test(
+ name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+ srcs = [src] + private_headers + public_headers,
+ copts = ["-fexceptions"],
+ data = [
+ "worlds",
+ ":libgz-physics-dartsim-plugin.so",
+ GZ_ROOT + "physics/test:resources",
+ ],
+ env = {
+ "GZ_BAZEL": "1",
+ "GZ_BAZEL_PATH": "physics",
+ },
+ includes = [
+ "include",
+ "src",
+ ],
+ local_defines = [
+ "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
+ "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
+ "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'", # noqa: 501
+ ],
+ deps = [
+ GZ_ROOT + "common/geospatial",
+ GZ_ROOT + "math/eigen3",
+ GZ_ROOT + "physics",
+ GZ_ROOT + "physics:heightmap",
+ GZ_ROOT + "physics:mesh",
+ GZ_ROOT + "physics:sdf",
+ GZ_ROOT + "physics/test:common_test",
+ GZ_ROOT + "third_party/dart:constraint_headers",
+ GZ_ROOT + "third_party/dart:simulation_headers",
+ "@gtest",
+ "@gtest//:gtest_main",
+ ],
+) for src in test_sources]
+
+add_lint_tests()