I am trying to add a physics engine to Gazebo does someone can explain me the steps related to the PhysicsFactory so that when I create a test.world file with , my_engine gets recognized. I think the name has to be registered to a map, but I cannot find how.

Just to mention that I already understand that my engine's interface has to be placed within a subdirectory like ode, bullet and so on. I am gonna follow what was done with the actual four engines to do my interface.

Thanks in advance!