Be more specific when looking for physics plugins (#965)

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Aug 11, 2021 · 0f58670 · 0f58670
1 parent b7346a4
commit 0f58670
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -498,10 +498,13 @@ void Physics::Configure(const Entity &_entity,
     return;
   }
 
-  auto classNames = pluginLoader.AllPlugins();
+  auto classNames = pluginLoader.PluginsImplementing<
+      physics::ForwardStep::Implementation<
+      physics::FeaturePolicy3d>>();
   if (classNames.empty())
   {
-    ignerr << "No plugins found in library [" << pathToLib << "]." << std::endl;
+    ignerr << "No physics plugins found in library [" << pathToLib << "]."
+           << std::endl;
     return;
   }
 
@@ -511,7 +514,11 @@ void Physics::Configure(const Entity &_entity,
     auto plugin = pluginLoader.Instantiate(className);
 
     if (!plugin)
+    {
+      ignwarn << "Failed to instantiate [" << className << "] from ["
+              << pathToLib << "]" << std::endl;
       continue;
+    }
 
     this->dataPtr->engine = ignition::physics::RequestEngine<
       ignition::physics::FeaturePolicy3d,