Define verbose macros for dart version check

Define DART_HAS_EACH_SHAPE_NODE_API and
DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES so the
ifdef logic is more clear and readable.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

dartsim/src/Base.hh

@@ -33,6 +33,13 @@
 #include <gz/common/Console.hh>
 #include <gz/physics/Implements.hh>
 
+#if DART_VERSION_AT_LEAST(6, 13, 0)
+// The BodyNode::getShapeNodes method was deprecated in dart 6.13.0
+// in favor of an iterator approach with BodyNode::eachShapeNode
+// See https://github.com/dartsim/dart/pull/1644 for more info
+#define DART_HAS_EACH_SHAPE_NODE_API
+#endif
+
 namespace ignition {
 namespace physics {
 namespace dartsim {
@@ -339,7 +346,7 @@ class Base : public Implements3d<FeatureList<Feature>>
     }
     for (auto &bn : skel->getBodyNodes())
     {
-#if DART_VERSION_AT_LEAST(6, 13, 0)
+#ifdef DART_HAS_EACH_SHAPE_NODE_API
       bn->eachShapeNode([this](dart::dynamics::ShapeNode *_sn)
       {
         this->shapes.RemoveEntity(_sn);

dartsim/src/SimulationFeatures.cc

@@ -32,6 +32,15 @@
 #include "gz/common/Profiler.hh"
 #include "gz/physics/GetContacts.hh"
 
+#if DART_VERSION_AT_LEAST(6, 13, 0)
+// The ContactSurfaceParams class was first added to version 6.10 of our fork
+// of dart, and then merged upstream and released in version 6.13.0 with
+// different public member variable names.
+// See https://github.com/dartsim/dart/pull/1626 and
+// https://github.com/gazebo-forks/dart/pull/22 for more info.
+#define DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+#endif
+
 namespace ignition {
 namespace physics {
 namespace dartsim {
@@ -170,13 +179,13 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
   typedef FeaturePolicy3d P;
   typename F::ContactSurfaceParams<P> pIgn;
 
-#if DART_VERSION_AT_LEAST(6, 13, 0)
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
   pIgn.frictionCoeff = pDart.mPrimaryFrictionCoeff;
 #else
   pIgn.frictionCoeff = pDart.mFrictionCoeff;
 #endif
   pIgn.secondaryFrictionCoeff = pDart.mSecondaryFrictionCoeff;
-#if DART_VERSION_AT_LEAST(6, 13, 0)
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
   pIgn.slipCompliance = pDart.mPrimarySlipCompliance;
 #else
   pIgn.slipCompliance = pDart.mSlipCompliance;
@@ -194,7 +203,7 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
 
     if (pIgn.frictionCoeff)
     {
-#if DART_VERSION_AT_LEAST(6, 13, 0)
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
       pDart.mPrimaryFrictionCoeff = pIgn.frictionCoeff.value();
 #else
       pDart.mFrictionCoeff = pIgn.frictionCoeff.value();
@@ -204,7 +213,7 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
       pDart.mSecondaryFrictionCoeff = pIgn.secondaryFrictionCoeff.value();
     if (pIgn.slipCompliance)
     {
-#if DART_VERSION_AT_LEAST(6, 13, 0)
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
       pDart.mPrimarySlipCompliance = pIgn.slipCompliance.value();
 #else
       pDart.mSlipCompliance = pIgn.slipCompliance.value();