gazebosim · methylDragon · Jun 26, 2022 · Jun 8, 2022 · Jun 16, 2022 · Jun 25, 2022
@@ -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/)
@@ -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)

@@ -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)

@@ -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

@@ -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 <gz/physics/Implements.hh>
 

@@ -2,7 +2,7 @@
 <sdf version="1.6">
   <world name="default">
     <plugin
-      filename="libignition-gazebo-physics-system.so"
+      filename="libgz-sim-physics-system.so"
       name="gz::gazebo::systems::v0::Physics">
     </plugin>
     <model name="sphere">

@@ -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})
@@ -41,15 +41,15 @@ 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
 the example loader like this:
 
 ~~~
 cd examples/hello_world_loader/build
-./hello_world_loader <path_to>/libignition-physics-dartsim-plugin.so
+./hello_world_loader <path_to>/libgz-physics-dartsim-plugin.so
 ~~~
 
 And you'll see the engine info:

@@ -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})
@@ -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=\"$<TARGET_FILE:SimplePlugin>\"")
@@ -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/

@@ -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

@@ -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 <typename Scalar, std::size_t Dim>

@@ -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/

@@ -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()
@@ -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

@@ -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)

@@ -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)