Add GetEngineVersion to GetEngineInfo (#821)

API Changes:

* Added GetVersion() method to GetEngineInfo::Engine class for retrieving engine version
* Added GetEngineVersion() pure virtual method to GetEngineInfo::Implementation interface
*  Updated all physics engine plugins to implement version reporting:
  - bullet and bullet-featherstone: Parse BT_BULLET_VERSION macro to return version string (e.g., "3.24")
  - dartsim: Use DART_VERSION macro to return version string (e.g., "6.13.0")
  - tpe: Return "1.0" as version
*  Updated dartsim's GetEngineName() to return "dartsim" only (previously returned "dartsim-" + DART_VERSION)

Generated-by: Claude Opus 4.5
---------
Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Author: j-rivero

Changelog.md

@@ -1,4 +1,15 @@
-## Gazebo Physics 9.x
+## Gazebo Physics 10.x
+
+### Gazebo Physics 10.0.0 ()
+
+1. Add `GetEngineVersion` to `GetEngineInfo` feature to separate engine name and version
+    * Adds `GetVersion()` method to `GetEngineInfo::Engine` API returning `gz::math::SemanticVersion`
+    * Adds `GetEngineVersion()` pure virtual method to `GetEngineInfo::Implementation`
+    * Implements `GetEngineVersion()` in all physics engine plugins:
+      - bullet and bullet-featherstone: parse `BT_BULLET_VERSION` macro to return SemanticVersion(3, 24)
+      - dartsim: parse `DART_VERSION` macro string to SemanticVersion
+      - tpe: return SemanticVersion(1, 0)
+    * Updates dartsim `GetEngineName()` to return "dartsim" only (was "dartsim-" DART_VERSION)
 
 ### Gazebo Physics 9.0.0 (2025-09-24)
 

bullet-featherstone/src/Base.hh

@@ -47,6 +47,7 @@
 
 #include <gz/common/Console.hh>
 #include <gz/math/eigen3/Conversions.hh>
+#include <gz/math/SemanticVersion.hh>
 #include <gz/physics/Implements.hh>
 
 namespace gz {
@@ -360,6 +361,10 @@ class Base : public Implements3d<FeatureList<Feature>>
   // Note: Entity ID 0 is reserved for the "engine"
   public: std::size_t entityCount = 1;
 
+  // BT_BULLET_VERSION is an integer like 324 representing version 3.24
+  public: const gz::math::SemanticVersion engineVersion{
+      BT_BULLET_VERSION / 100, BT_BULLET_VERSION % 100};
+
   public: inline std::size_t GetNextEntity()
   {
     return entityCount++;

bullet-featherstone/src/EntityManagementFeatures.cc

@@ -16,8 +16,10 @@
 */
 
 #include <btBulletDynamicsCommon.h>
+#include <LinearMath/btScalar.h>
 
 #include <memory>
+#include <sstream>
 #include <string>
 #include <unordered_map>
 
@@ -303,6 +305,12 @@ const std::string &EntityManagementFeatures::GetEngineName(
   return engineName;
 }
 
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
+  const Identity &) const
+{
+  return this->engineVersion;
+}
+
 /////////////////////////////////////////////////
 std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const
 {

bullet-featherstone/src/EntityManagementFeatures.hh

@@ -52,6 +52,9 @@ class EntityManagementFeatures :
   public: const std::string &GetEngineName(
       const Identity &_engineID) const override;
 
+  public: const gz::math::SemanticVersion &GetEngineVersion(
+      const Identity &_engineID) const override;
+
   public: std::size_t GetEngineIndex(
       const Identity &_engineID) const override;
 

bullet/src/Base.hh

@@ -29,6 +29,7 @@
 #include <map>
 
 #include <gz/common/Console.hh>
+#include <gz/math/SemanticVersion.hh>
 #include <gz/physics/Implements.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
@@ -174,6 +175,10 @@ inline math::Pose3d convertToGz(const btTransform &_pose)
 
 class Base : public Implements3d<FeatureList<Feature>>
 {
+  // BT_BULLET_VERSION is an integer like 324 representing version 3.24
+  public: const gz::math::SemanticVersion engineVersion{
+      BT_BULLET_VERSION / 100, BT_BULLET_VERSION % 100};
+
   public: std::size_t entityCount = 0;
 
   public: inline std::size_t GetNextEntity()

bullet/src/EntityManagementFeatures.cc

@@ -16,8 +16,10 @@
 */
 
 #include <btBulletDynamicsCommon.h>
+#include <LinearMath/btScalar.h>
 
 #include <memory>
+#include <sstream>
 #include <string>
 #include <unordered_map>
 
@@ -117,6 +119,12 @@ const std::string &EntityManagementFeatures::GetEngineName(
   return engineName;
 }
 
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
+  const Identity &) const
+{
+  return this->engineVersion;
+}
+
 std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const
 {
   return 0;

bullet/src/EntityManagementFeatures.hh

@@ -65,6 +65,8 @@ class EntityManagementFeatures :
 
   // ----- Get entities -----
   public: const std::string &GetEngineName(const Identity &) const override;
+  public: const gz::math::SemanticVersion &GetEngineVersion(
+      const Identity &) const override;
   public: std::size_t GetEngineIndex(const Identity &) const override;
 
   public: std::size_t GetWorldCount(const Identity &) const override;

dartsim/src/Base.hh

@@ -37,6 +37,7 @@
 #include <gz/common/Console.hh>
 #include <gz/math/eigen3/Conversions.hh>
 #include <gz/math/Inertial.hh>
+#include <gz/math/SemanticVersion.hh>
 #include <gz/physics/Implements.hh>
 
 #include <sdf/Types.hh>
@@ -261,6 +262,12 @@ struct EntityStorage
 
 class Base : public Implements3d<FeatureList<Feature>>
 {
+  public: const gz::math::SemanticVersion engineVersion = [](){
+    gz::math::SemanticVersion v;
+    v.Parse(DART_VERSION);
+    return v;
+  }();
+
   public: using DartWorld = dart::simulation::World;
   public: using DartWorldPtr = dart::simulation::WorldPtr;
   public: using DartSkeletonPtr = dart::dynamics::SkeletonPtr;

dartsim/src/EntityManagementFeatures.cc

@@ -132,10 +132,17 @@ static std::size_t GetWorldOfShapeNode(const EntityManagementFeatures *_emf,
 const std::string &EntityManagementFeatures::GetEngineName(
     const Identity &/*_engineID*/) const
 {
-  static const std::string engineName = "dartsim-" DART_VERSION;
+  static const std::string engineName = "dartsim";
   return engineName;
 }
 
+/////////////////////////////////////////////////
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
+    const Identity &/*_engineID*/) const
+{
+  return this->engineVersion;
+}
+
 /////////////////////////////////////////////////
 std::size_t EntityManagementFeatures::GetEngineIndex(
     const Identity &/*_engineID*/) const

dartsim/src/EntityManagementFeatures.hh

@@ -52,6 +52,9 @@ class GZ_PHYSICS_DARTSIM_PLUGIN_VISIBLE EntityManagementFeatures :
   // ----- Get entities -----
   public: const std::string &GetEngineName(const Identity &) const override;
 
+  public: const gz::math::SemanticVersion &GetEngineVersion(
+      const Identity &) const override;
+
   public: std::size_t GetEngineIndex(const Identity &) const override;
 
   public: std::size_t GetWorldCount(const Identity &) const override;