From 16b1af45e56b021fb303236a6d62e33a247f2e39 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Wed, 16 Jun 2021 12:14:40 -0700 Subject: [PATCH] Document physics options. Signed-off-by: Louise Poubel --- tutorials/physics.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/tutorials/physics.md b/tutorials/physics.md index c86ecb07a7..4ff2a32097 100644 --- a/tutorials/physics.md +++ b/tutorials/physics.md @@ -84,6 +84,18 @@ serverConfig.SetPhysicsEngine("CustomEngine"); ignition::gazebo::Server server(serverConfig); ``` +## Engine configuration + +Gazebo supports the following physics engine configurations through SDF. +These options are available to all physics engines, but not all engines +may support them. The default physics engine, DART, supports all these options. + +* [//physics/dart/collision_detector](http://sdformat.org/spec?ver=1.8&elem=physics#dart_collision_detector) + * Options supported by DART: `ode` (default), `bullet`, `fcl`, `dart`. + +* [//physics/dart/solver/solver_type](http://sdformat.org/spec?ver=1.8&elem=physics#solver_solver_type) + * Options supported by DART: `dantzig` (default), `pgs` + ## Troubleshooting > Failed to find plugin [libCustomEngine.so]. Have you checked the