Move functions to Base.hh

Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
Generated-by: Claude Opus 4.5

Author: j-rivero

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

@@ -308,10 +308,7 @@ const std::string &EntityManagementFeatures::GetEngineName(
 const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
-  // BT_BULLET_VERSION is an integer like 324 representing version 3.24
-  int ver = BT_BULLET_VERSION;
-  static const gz::math::SemanticVersion version(ver / 100, ver % 100);
-  return version;
+  return this->engineVersion;
 }
 
 /////////////////////////////////////////////////

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

@@ -122,10 +122,7 @@ const std::string &EntityManagementFeatures::GetEngineName(
 const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
-  // BT_BULLET_VERSION is an integer like 324 representing version 3.24
-  int ver = BT_BULLET_VERSION;
-  static const gz::math::SemanticVersion version(ver / 100, ver % 100);
-  return version;
+  return this->engineVersion;
 }
 
 std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const

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

@@ -140,12 +140,7 @@ const std::string &EntityManagementFeatures::GetEngineName(
 const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
     const Identity &/*_engineID*/) const
 {
-  static const gz::math::SemanticVersion version = [](){
-    gz::math::SemanticVersion v;
-    v.Parse(DART_VERSION);
-    return v;
-  }();
-  return version;
+  return this->engineVersion;
 }
 
 /////////////////////////////////////////////////

tpe/plugin/src/Base.hh

@@ -18,6 +18,7 @@
 #ifndef GZ_PHYSICS_TPE_PLUGIN_SRC_BASE_HH_
 #define GZ_PHYSICS_TPE_PLUGIN_SRC_BASE_HH_
 
+#include <gz/math/SemanticVersion.hh>
 #include <gz/physics/Implements.hh>
 
 #include <map>
@@ -61,6 +62,9 @@ struct CollisionInfo
 
 class Base : public Implements3d<FeatureList<Feature>>
 {
+  // TPE versioning is internal to gz-physics
+  public: const gz::math::SemanticVersion engineVersion{1, 0};
+
   public: inline Identity InitiateEngine(std::size_t /*_engineID*/) override
   {
     return this->GenerateIdentity(0);

tpe/plugin/src/EntityManagementFeatures.cc

@@ -35,9 +35,7 @@ const std::string &EntityManagementFeatures::GetEngineName(
 const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
-  // TPE versioning is internal to gz-physics, set the version here
-  static const gz::math::SemanticVersion version(1, 0);
-  return version;
+  return this->engineVersion;
 }
 
 /////////////////////////////////////////////////