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BUILD.bazel
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BUILD.bazel
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# -*- python -*-
# This file contains rules for Bazel; see drake/doc/bazel.rst.
load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(
default_visibility = ["//visibility:public"],
)
drake_cc_package_library(
name = "contact_solvers",
visibility = ["//visibility:public"],
deps = [
":contact_solver",
":contact_solver_results",
":contact_solver_utils",
":linear_operator",
":point_contact_data",
":sparse_linear_operator",
":system_dynamics_data",
],
)
drake_cc_library(
name = "contact_solver_results",
srcs = ["contact_solver_results.cc"],
hdrs = ["contact_solver_results.h"],
deps = ["//common:default_scalars"],
)
drake_cc_library(
name = "multibody_sim_driver",
testonly = 1,
srcs = ["test/multibody_sim_driver.cc"],
hdrs = ["test/multibody_sim_driver.h"],
deps = [
"//common:find_resource",
"//geometry:drake_visualizer",
"//multibody/parsing",
"//multibody/plant",
"//systems/analysis:simulator",
"//systems/framework:diagram",
"//systems/framework:diagram_builder",
"//systems/lcm",
],
)
drake_cc_library(
name = "contact_solver",
srcs = ["contact_solver.cc"],
hdrs = ["contact_solver.h"],
deps = [
":contact_solver_results",
":contact_solver_utils",
":point_contact_data",
":system_dynamics_data",
"//common:default_scalars",
],
)
drake_cc_library(
name = "contact_solver_utils",
srcs = [],
hdrs = ["contact_solver_utils.h"],
deps = [
"//common:essential",
],
)
drake_cc_library(
name = "linear_operator",
srcs = ["linear_operator.cc"],
hdrs = ["linear_operator.h"],
deps = [
"//common:default_scalars",
"//common:essential",
],
)
drake_cc_library(
name = "point_contact_data",
srcs = ["point_contact_data.cc"],
hdrs = ["point_contact_data.h"],
deps = [
":linear_operator",
"//common:default_scalars",
],
)
drake_cc_library(
name = "sparse_linear_operator",
srcs = ["sparse_linear_operator.cc"],
hdrs = ["sparse_linear_operator.h"],
deps = [
":linear_operator",
"//common:default_scalars",
"//common:essential",
],
)
drake_cc_library(
name = "system_dynamics_data",
srcs = ["system_dynamics_data.cc"],
hdrs = ["system_dynamics_data.h"],
deps = [
":linear_operator",
"//common:default_scalars",
],
)
drake_cc_googletest(
name = "contact_solver_test",
data = ["test/particle_with_infinite_inertia.sdf"],
deps = [
":contact_solver",
":contact_solver_utils",
":multibody_sim_driver",
"//common/test_utilities:eigen_matrix_compare",
],
)
drake_cc_googletest(
name = "linear_operator_test",
deps = [
":linear_operator",
"//common/test_utilities:expect_throws_message",
],
)
drake_cc_googletest(
name = "sparse_linear_operator_test",
deps = [
":sparse_linear_operator",
],
)
add_lint_tests()