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()