diff --git a/CMakeLists.txt b/CMakeLists.txt index 8fc68a546..47d92eec9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,12 +3,12 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-physics6 VERSION 6.0.0) +project(gz-physics6 VERSION 6.0.0) #============================================================================ -# Find ignition-cmake +# Find gz-cmake #============================================================================ -find_package(ignition-cmake3 REQUIRED) +find_package(gz-cmake3 REQUIRED) #============================================================================ # Configure the project @@ -35,26 +35,26 @@ endif() message(STATUS "\n\n-- ====== Finding Dependencies ======") #-------------------------------------- -# Find ignition-common -gz_find_package(ignition-common5 +# Find gz-common +gz_find_package(gz-common5 COMPONENTS geospatial graphics profiler REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet) -set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR}) +set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR}) #-------------------------------------- -# Find ignition-math -gz_find_package(ignition-math7 REQUIRED COMPONENTS eigen3) -set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR}) +# Find gz-math +gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3) +set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR}) #-------------------------------------- -# Find ignition-plugin -gz_find_package(ignition-plugin2 REQUIRED COMPONENTS all) -set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR}) +# Find gz-plugin +gz_find_package(gz-plugin2 REQUIRED COMPONENTS all) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) #-------------------------------------- -# Find ignition-utils -gz_find_package(ignition-utils2 REQUIRED COMPONENTS cli) -set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR}) +# Find gz-utils +gz_find_package(gz-utils2 REQUIRED COMPONENTS cli) +set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR}) #-------------------------------------- # Find Eigen @@ -93,7 +93,7 @@ set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources") # Plugin install dirs set(GZ_PHYSICS_ENGINE_INSTALL_DIR - ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins + ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins ) #============================================================================ @@ -119,9 +119,9 @@ gz_create_docs( API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md" TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md" TAGFILES - "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}" - "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}" - "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}" + "${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}" + "${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}" + "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}" ) file(COPY ${CMAKE_SOURCE_DIR}/tutorials/img/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/img/) diff --git a/Changelog.md b/Changelog.md index fcb398532..acf3c1edc 100644 --- a/Changelog.md +++ b/Changelog.md @@ -283,7 +283,7 @@ 1. Ignore invalid joint commands * [Pull request #137](https://github.com/gazebosim/gz-physics/pull/137) -1. Fix CONFIG arg in ign_find_package(DART) call +1. Fix CONFIG arg in gz_find_package(DART) call * [Pull request #119](https://github.com/gazebosim/gz-physics/pull/119) ### Gazebo Physics 3.1.0 (2020-10-18) @@ -297,7 +297,7 @@ 1. Support nested models in TPE * [Pull request 86](https://github.com/gazebosim/gz-physics/pull/86) -1. Fix CONFIG arg in ign_find_package(DART) call +1. Fix CONFIG arg in gz_find_package(DART) call * [Pull request 119](https://github.com/gazebosim/gz-physics/pull/119) 1. Fix getting model bounding box in world frame in TPE @@ -388,7 +388,7 @@ 1. Support getting shape AABB in world frame * [Pull request #127](https://github.com/gazebosim/gz-physics/pull/127) -1. Fix CONFIG arg in `ign_find_package(DART)` call +1. Fix CONFIG arg in `gz_find_package(DART)` call * [Pull request #119](https://github.com/gazebosim/gz-physics/pull/119) ### Gazebo Physics 2.3.0 (2020-09-29) @@ -512,7 +512,7 @@ 1. Ignore invalid joint commands in the dartsim-plugin * [Pull request 137](https://github.com/gazebosim/gz-physics/pull/137) -1. Fix CONFIG arg in ign_find_package(DART) call +1. Fix CONFIG arg in gz_find_package(DART) call * [Pull request 119](https://github.com/gazebosim/gz-physics/pull/119) ### Gazebo Physics 1.9.0 (2020-09-17) diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt index 9c6a34513..84dda26c3 100644 --- a/bullet/CMakeLists.txt +++ b/bullet/CMakeLists.txt @@ -21,8 +21,8 @@ target_link_libraries(${bullet_plugin} ${features} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} - ignition-math${IGN_MATH_VER}::eigen3) + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-math${GZ_MATH_VER}::eigen3) # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) @@ -32,8 +32,8 @@ install( DIRECTORY include/ DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}") -# The library created by `gz_add_component` includes the ign-physics version -# (i.e. libignition-physics1-name-plugin.so), but for portability, +# The library created by `gz_add_component` includes the gz-physics version +# (i.e. libgz-physics1-name-plugin.so), but for portability, # we also install an unversioned symlink into the same versioned folder. set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) @@ -56,8 +56,8 @@ gz_build_tests( SOURCES ${test_sources} LIB_DEPS ${features} - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + gz-plugin${GZ_PLUGIN_VER}::loader + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh TEST_LIST tests) diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt index 185a719b5..cbaeb245b 100644 --- a/dartsim/CMakeLists.txt +++ b/dartsim/CMakeLists.txt @@ -30,15 +30,15 @@ target_link_libraries(${dartsim_plugin} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-heightmap ${PROJECT_LIBRARY_TARGET_NAME}-mesh - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} - ignition-common${IGN_COMMON_VER}::geospatial - ignition-math${IGN_MATH_VER}::eigen3 + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common${GZ_COMMON_VER}::geospatial + gz-math${GZ_MATH_VER}::eigen3 PRIVATE # We need to link this, even when the profiler isn't used to get headers. - ignition-common${IGN_COMMON_VER}::profiler + gz-common${GZ_COMMON_VER}::profiler ) -# The ignition fork of DART contains additional code that allows customizing +# The Gazebo fork of DART contains additional code that allows customizing # contact constraints. We check for the presence of "ContactSurface.hpp", which # was added to enable these customizations, to detect if the feature is # available. @@ -61,8 +61,8 @@ endif() # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) -# The library created by `gz_add_component` includes the ign-physics version -# (i.e. libignition-physics1-name-plugin.so), but for portability, +# The library created by `gz_add_component` includes the gz-physics version +# (i.e. libgz-physics1-name-plugin.so), but for portability, # we also install an unversioned symlink into the same versioned folder. set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) @@ -83,9 +83,9 @@ gz_build_tests( SOURCES ${test_sources} LIB_DEPS ${features} - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} - ignition-common${IGN_COMMON_VER}::geospatial + gz-plugin${GZ_PLUGIN_VER}::loader + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common${GZ_COMMON_VER}::geospatial ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-heightmap ${PROJECT_LIBRARY_TARGET_NAME}-mesh diff --git a/dartsim/src/CustomFeatures.hh b/dartsim/src/CustomFeatures.hh index 22005a3b2..6c6b34646 100644 --- a/dartsim/src/CustomFeatures.hh +++ b/dartsim/src/CustomFeatures.hh @@ -15,8 +15,8 @@ * */ -#ifndef IGNITION_PHYSICS_SRC_CUSTOMFEATURES_HH -#define IGNITION_PHYSICS_SRC_CUSTOMFEATURES_HH +#ifndef GZ_PHYSICS_SRC_CUSTOMFEATURES_HH +#define GZ_PHYSICS_SRC_CUSTOMFEATURES_HH #include diff --git a/dartsim/worlds/falling.world b/dartsim/worlds/falling.world index ba4546d4c..b3e2d9283 100644 --- a/dartsim/worlds/falling.world +++ b/dartsim/worlds/falling.world @@ -2,7 +2,7 @@ diff --git a/examples/hello_world_loader/CMakeLists.txt b/examples/hello_world_loader/CMakeLists.txt index 1147738a7..68c6bb885 100644 --- a/examples/hello_world_loader/CMakeLists.txt +++ b/examples/hello_world_loader/CMakeLists.txt @@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR) project(ign-physics-hello-world-loader) -find_package(ignition-plugin2 REQUIRED COMPONENTS all) -set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR}) +find_package(gz-plugin2 REQUIRED COMPONENTS all) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) -find_package(ignition-physics6 REQUIRED) -set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR}) +find_package(gz-physics6 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR}) add_executable(hello_world_loader hello_world_loader.cc) target_link_libraries(hello_world_loader - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + gz-plugin${GZ_PLUGIN_VER}::loader + gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER}) diff --git a/examples/hello_world_loader/README.md b/examples/hello_world_loader/README.md index cf886d87a..8f7821497 100644 --- a/examples/hello_world_loader/README.md +++ b/examples/hello_world_loader/README.md @@ -41,7 +41,7 @@ For example, if you have the Gazebo Physics plugin for DART compiled, find where it's installed with: ~~~ -find / | grep libignition-physics-dartsim-plugin.so +find / | grep libgz-physics-dartsim-plugin.so ~~~ You may find more than one file. Choose one of them, and load it with @@ -49,7 +49,7 @@ the example loader like this: ~~~ cd examples/hello_world_loader/build -./hello_world_loader /libignition-physics-dartsim-plugin.so +./hello_world_loader /libgz-physics-dartsim-plugin.so ~~~ And you'll see the engine info: diff --git a/examples/hello_world_plugin/CMakeLists.txt b/examples/hello_world_plugin/CMakeLists.txt index f70ac1857..2a3b8db88 100644 --- a/examples/hello_world_plugin/CMakeLists.txt +++ b/examples/hello_world_plugin/CMakeLists.txt @@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR) project(ign-physics-hello-world-plugin) -find_package(ignition-plugin2 REQUIRED COMPONENTS all) -set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR}) +find_package(gz-plugin2 REQUIRED COMPONENTS all) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) -find_package(ignition-physics6 REQUIRED) -set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR}) +find_package(gz-physics6 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR}) add_library(HelloWorldPlugin SHARED HelloWorldPlugin.cc) target_link_libraries(HelloWorldPlugin PRIVATE - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER}) diff --git a/examples/simple_plugin/CMakeLists.txt b/examples/simple_plugin/CMakeLists.txt index 1c3cf9511..dea8201de 100644 --- a/examples/simple_plugin/CMakeLists.txt +++ b/examples/simple_plugin/CMakeLists.txt @@ -2,21 +2,21 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR) project(ign-physics-simple-plugin) -find_package(ignition-plugin2 REQUIRED COMPONENTS all) -set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR}) +find_package(gz-plugin2 REQUIRED COMPONENTS all) +set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR}) -find_package(ignition-physics6 REQUIRED) -set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR}) +find_package(gz-physics6 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR}) add_library(SimplePlugin SHARED plugin.cc EntityManagementFeatures.cc) target_link_libraries(SimplePlugin PRIVATE - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER}) add_executable(PluginTest EntityManagementFeatures_TEST.cc) target_link_libraries(PluginTest - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER}) + gz-plugin${GZ_PLUGIN_VER}::loader + gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER}) target_compile_definitions(PluginTest PRIVATE "simple_plugin_LIB=\"$\"") diff --git a/heightmap/CMakeLists.txt b/heightmap/CMakeLists.txt index 65913ff43..2012b5b98 100644 --- a/heightmap/CMakeLists.txt +++ b/heightmap/CMakeLists.txt @@ -3,7 +3,7 @@ gz_add_component(heightmap INTERFACE target_link_libraries(${heightmap} INTERFACE - ignition-common${IGN_COMMON_VER}::geospatial) + gz-common${GZ_COMMON_VER}::geospatial) install( DIRECTORY include/ diff --git a/include/gz/physics/FrameSemantics.hh b/include/gz/physics/FrameSemantics.hh index fc5a23b9f..7c6dcb584 100644 --- a/include/gz/physics/FrameSemantics.hh +++ b/include/gz/physics/FrameSemantics.hh @@ -32,7 +32,7 @@ namespace gz { ///////////////////////////////////////////////// /// \brief FrameSemantics is an Interface that can be provided by - /// ignition-physics engines to provide users with easy ways to express + /// gz-physics engines to provide users with easy ways to express /// kinematic quantities in terms of frames and compute their values in /// terms of arbitrary frames of reference. class GZ_PHYSICS_VISIBLE FrameSemantics : public virtual Feature diff --git a/include/gz/physics/Geometry.hh b/include/gz/physics/Geometry.hh index 9c4552cda..000c8f839 100644 --- a/include/gz/physics/Geometry.hh +++ b/include/gz/physics/Geometry.hh @@ -37,7 +37,7 @@ namespace gz { namespace physics { - /// \brief This is used by ignition-physics to represent rigid body + /// \brief This is used by gz-physics to represent rigid body /// transforms in 2D or 3D simulations. The precision can be chosen as /// float or scalar. template diff --git a/mesh/CMakeLists.txt b/mesh/CMakeLists.txt index 4fe750e9f..af5885524 100644 --- a/mesh/CMakeLists.txt +++ b/mesh/CMakeLists.txt @@ -3,7 +3,7 @@ gz_add_component(mesh INTERFACE target_link_libraries(${mesh} INTERFACE - ignition-common${IGN_COMMON_VER}::graphics) + gz-common${GZ_COMMON_VER}::graphics) install( DIRECTORY include/ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 3eb30401d..47d4c65f1 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -4,9 +4,9 @@ gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17) target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC - ${ignition-math${IGN_MATH_VER}_LIBRARIES} - ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER} - ignition-plugin${IGN_PLUGIN_VER}::register + gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-plugin${GZ_PLUGIN_VER}::register Eigen3::Eigen) gz_build_tests( @@ -15,5 +15,5 @@ gz_build_tests( if(TARGET UNIT_FindFeatures_TEST) target_link_libraries(UNIT_FindFeatures_TEST - ignition-plugin${IGN_PLUGIN_VER}::loader) + gz-plugin${GZ_PLUGIN_VER}::loader) endif() diff --git a/test/common_test/CMakeLists.txt b/test/common_test/CMakeLists.txt index c6f31669d..b58362ce6 100644 --- a/test/common_test/CMakeLists.txt +++ b/test/common_test/CMakeLists.txt @@ -19,8 +19,8 @@ foreach(test ${tests}) target_link_libraries(${TEST_TYPE}_${test} PUBLIC - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-common5::ignition-common5 + gz-plugin${GZ_PLUGIN_VER}::loader + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} ${PROJECT_LIBRARY_TARGET_NAME} gtest gtest_main diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 643c54bd3..521daae7b 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -11,7 +11,7 @@ gz_build_tests( SOURCES ${tests} LIB_DEPS Eigen3::Eigen - ignition-plugin${IGN_PLUGIN_VER}::loader + gz-plugin${GZ_PLUGIN_VER}::loader TEST_LIST list) if (BUILD_TESTING) diff --git a/test/plugins/CMakeLists.txt b/test/plugins/CMakeLists.txt index 56406d81a..61dc62edd 100644 --- a/test/plugins/CMakeLists.txt +++ b/test/plugins/CMakeLists.txt @@ -1,6 +1,6 @@ if (DART_FOUND) add_library(MockDoublePendulum SHARED DARTDoublePendulum.cc) - target_link_libraries(MockDoublePendulum PRIVATE ignition-common${IGN_COMMON_VER}::core) + target_link_libraries(MockDoublePendulum PRIVATE gz-common${GZ_COMMON_VER}::core) endif() add_library(MockEntities SHARED MockEntities.cc) add_library(MockFrames SHARED frames.cc) diff --git a/tpe/lib/CMakeLists.txt b/tpe/lib/CMakeLists.txt index d08c55cd7..6452d0814 100644 --- a/tpe/lib/CMakeLists.txt +++ b/tpe/lib/CMakeLists.txt @@ -13,16 +13,16 @@ gz_add_component(tpelib target_link_libraries(${tpelib_target} PUBLIC PRIVATE - ignition-common${IGN_COMMON_VER}::requested - ignition-math${IGN_MATH_VER}::eigen3 + gz-common${GZ_COMMON_VER}::requested + gz-math${GZ_MATH_VER}::eigen3 ) gz_build_tests( TYPE UNIT_tpelib SOURCES ${test_sources} LIB_DEPS - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-common${IGN_COMMON_VER}::requested + gz-plugin${GZ_PLUGIN_VER}::loader + gz-common${GZ_COMMON_VER}::requested ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh ${tpelib_target} diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt index 918a26873..bcbf58be5 100644 --- a/tpe/plugin/CMakeLists.txt +++ b/tpe/plugin/CMakeLists.txt @@ -24,18 +24,18 @@ target_link_libraries(${tpe_plugin} ${features} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} - ignition-math${IGN_MATH_VER}::eigen3 + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-math${GZ_MATH_VER}::eigen3 PRIVATE # We need to link this, even when the profiler isn't used to get headers. - ignition-common${IGN_COMMON_VER}::profiler + gz-common${GZ_COMMON_VER}::profiler ) # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) -# The library created by `gz_add_component` includes the ign-physics version -# (i.e. libignition-physics1-name-plugin.so), but for portability, +# The library created by `gz_add_component` includes the gz-physics version +# (i.e. libgz-physics1-name-plugin.so), but for portability, # we also install an unversioned symlink into the same versioned folder. set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${tpe_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) @@ -55,8 +55,8 @@ gz_build_tests( SOURCES ${test_sources} LIB_DEPS ${features} - ignition-plugin${IGN_PLUGIN_VER}::loader - ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} + gz-plugin${GZ_PLUGIN_VER}::loader + gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} ${PROJECT_LIBRARY_TARGET_NAME}-sdf ${PROJECT_LIBRARY_TARGET_NAME}-mesh TEST_LIST tests) diff --git a/tpe/plugin/src/CustomFeatures.hh b/tpe/plugin/src/CustomFeatures.hh index 52ec59bea..d0f855eb4 100644 --- a/tpe/plugin/src/CustomFeatures.hh +++ b/tpe/plugin/src/CustomFeatures.hh @@ -15,8 +15,8 @@ * */ -#ifndef IGNITION_PHYSICS_TPE_PLUGIN_SRC_CUSTOMFEATURES_HH -#define IGNITION_PHYSICS_TPE_PLUGIN_SRC_CUSTOMFEATURES_HH +#ifndef GZ_PHYSICS_TPE_PLUGIN_SRC_CUSTOMFEATURES_HH +#define GZ_PHYSICS_TPE_PLUGIN_SRC_CUSTOMFEATURES_HH #include diff --git a/tutorials/04-switching-physics-engines.md b/tutorials/04-switching-physics-engines.md index 36f0c7520..32e4a2263 100644 --- a/tutorials/04-switching-physics-engines.md +++ b/tutorials/04-switching-physics-engines.md @@ -18,8 +18,8 @@ Gazebo automatically looks for all physics engine plugins that are installed with Gazebo Physics. At the time of writing, there are two physics engines available (more detail in \ref physicsplugin "Physics plugin tutorial"): -- **DART**: `ignition-physics-dartsim-plugin`. -- **TPE**: `ignition-physics-tpe-plugin`. +- **DART**: `gz-physics-dartsim-plugin`. +- **TPE**: `gz-physics-tpe-plugin`. If you've created a custom engine plugin, you can tell Gazebo where to find it by setting the `GZ_SIM_PHYSICS_ENGINE_PATH` environment variable to @@ -66,8 +66,8 @@ For the example above, you can load it like this: ```{.xml} + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> CustomEngine @@ -91,10 +91,10 @@ When instantiating a server programmatically, a physics engine can be passed to the constructor, for example: ``` -gz::gazebo::ServerConfig serverConfig; +gz::sim::ServerConfig serverConfig; serverConfig.SetPhysicsEngine("CustomEngine"); -gz::gazebo::Server server(serverConfig); +gz::sim::Server server(serverConfig); ``` ## Troubleshooting diff --git a/tutorials/05_plugin_loading.md b/tutorials/05_plugin_loading.md index d8cba3062..76e99f3ab 100644 --- a/tutorials/05_plugin_loading.md +++ b/tutorials/05_plugin_loading.md @@ -100,14 +100,14 @@ For example, if you have the Gazebo Physics plugin for (you may need administrative rights: `sudo` on Linux platform): ```bash -find / | grep libignition-physics-dartsim-plugin.so +find / | grep libgz-physics-dartsim-plugin.so ``` You may find more than one file. Choose one of them, and load it with the loader by: ```bash -./hello_world_loader /libignition-physics-dartsim-plugin.so +./hello_world_loader /libgz-physics-dartsim-plugin.so ``` And you'll see the engine info: @@ -120,6 +120,6 @@ Testing plugin: gz::physics::dartsim::Plugin At the time of writing, Gazebo Physics is shipped with [DART](https://dartsim.github.io/) and [TPE](https://community.gazebosim.org/t/announcing-new-physics-engine-tpe-trivial-physics-engine/629) physics plugins installed. Following the above steps, you can load `TPE` by the -library name `libignition-physics-tpe-plugin.so` or other custom plugins by +library name `libgz-physics-tpe-plugin.so` or other custom plugins by their corresponding names. diff --git a/tutorials/06-physics-simulation-concepts.md b/tutorials/06-physics-simulation-concepts.md index ad53c3b78..eee12aa86 100644 --- a/tutorials/06-physics-simulation-concepts.md +++ b/tutorials/06-physics-simulation-concepts.md @@ -49,7 +49,7 @@ source ~/workspace/install/setup.bash ign gazebo diff_drive.sdf # default Dartsim # or run demo with TPE -ign gazebo velocity_control.sdf --physics-engine ignition-physics-tpe-plugin # specify TPE as physics engine +ign gazebo velocity_control.sdf --physics-engine gz-physics-tpe-plugin # specify TPE as physics engine ``` To control the car movement, in a separate terminal window, we publish a diff --git a/tutorials/08-implementing-a-custom-feature.md b/tutorials/08-implementing-a-custom-feature.md index 8306234ae..185bb81ee 100644 --- a/tutorials/08-implementing-a-custom-feature.md +++ b/tutorials/08-implementing-a-custom-feature.md @@ -38,8 +38,8 @@ ign-physics ``` As shown above, there are two physics engines available: -- **DART**: `ignition-physics-dartsim-plugin`. -- **TPE**: `ignition-physics-tpe-plugin`. +- **DART**: `gz-physics-dartsim-plugin`. +- **TPE**: `gz-physics-tpe-plugin`. and their plugin folders are placed just below the top level of `ign-physics`. diff --git a/tutorials/09-set-up-physics-engine-tpe.md b/tutorials/09-set-up-physics-engine-tpe.md index c7da65792..fc033a3ba 100644 --- a/tutorials/09-set-up-physics-engine-tpe.md +++ b/tutorials/09-set-up-physics-engine-tpe.md @@ -278,5 +278,5 @@ for more comprehensive unit tests. Please follow the previous tutorial \ref installation "Installation" to build `ign-physics` from source again for our new feature to be compiled. -Now we can load the new physics plugin named `ignition-physics-tpe-plugin` +Now we can load the new physics plugin named `gz-physics-tpe-plugin` to test it on Gazebo by following this \ref switchphysicsengines "Switching physics engines" tutorial. diff --git a/tutorials/09_use_custom_engine.md b/tutorials/09_use_custom_engine.md index 539f3f6a4..f44aeeecf 100644 --- a/tutorials/09_use_custom_engine.md +++ b/tutorials/09_use_custom_engine.md @@ -164,5 +164,5 @@ feel free to take a look here: Please follow the previous tutorial \ref installation "Installation" to build `ign-physics` from source again for our new feature to be compiled. -Now we can load the new physics plugin named `ignition-physics-tpe-plugin` +Now we can load the new physics plugin named `gz-physics-tpe-plugin` to test it on Gazebo by following this \ref physicsengine "Use different physics engines" tutorial.