diff --git a/CMakeLists.txt b/CMakeLists.txt index b16b4dd17..f30707399 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(gz-physics8 VERSION 8.0.0) +project(gz-physics9 VERSION 9.0.0) #============================================================================ # Find gz-cmake @@ -16,7 +16,7 @@ find_package(gz-cmake4 REQUIRED) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -gz_configure_project(VERSION_SUFFIX) +gz_configure_project(VERSION_SUFFIX pre1) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index c6ee05876..1d55bb596 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,3 +1,7 @@ +## Gazebo Physics 9.x + +### Gazebo Physics 9.0.0 (20XX-XX-XX) + ## Gazebo Physics 8.x ### Gazebo Physics 8.0.0 (2024-09-25) diff --git a/README.md b/README.md index acd8b363e..54ee2713d 100644 --- a/README.md +++ b/README.md @@ -73,7 +73,7 @@ See the [installation tutorial](https://gazebosim.org/api/physics/8/installation # Usage -Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/gz-physics8/examples/). +Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/main/examples/). # Documentation @@ -90,13 +90,13 @@ On Ubuntu, you can also generate the documentation from a clone of this reposito 2. Install dependencies ``` sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main" - sudo apt-get build-dep -y libgz-physics8-dev + sudo apt-get build-dep -y libgz-physics9-dev ``` 3. Clone the repository ``` - git clone https://github.com/gazebosim/gz-physics -b gz-physics8 + git clone https://github.com/gazebosim/gz-physics -b main ``` 4. Configure and build the documentation. diff --git a/examples/hello_world_loader/CMakeLists.txt b/examples/hello_world_loader/CMakeLists.txt index ab17c4321..3907e680c 100644 --- a/examples/hello_world_loader/CMakeLists.txt +++ b/examples/hello_world_loader/CMakeLists.txt @@ -5,8 +5,8 @@ project(gz-physics-hello-world-loader) find_package(gz-plugin3 REQUIRED COMPONENTS all) set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) -find_package(gz-physics8 REQUIRED) -set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR}) +find_package(gz-physics9 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics9_VERSION_MAJOR}) add_executable(hello_world_loader hello_world_loader.cc) target_link_libraries(hello_world_loader diff --git a/examples/hello_world_plugin/CMakeLists.txt b/examples/hello_world_plugin/CMakeLists.txt index a3eb4826d..10298b619 100644 --- a/examples/hello_world_plugin/CMakeLists.txt +++ b/examples/hello_world_plugin/CMakeLists.txt @@ -5,8 +5,8 @@ project(gz-physics-hello-world-plugin) find_package(gz-plugin3 REQUIRED COMPONENTS all) set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) -find_package(gz-physics8 REQUIRED) -set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR}) +find_package(gz-physics9 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics9_VERSION_MAJOR}) add_library(HelloWorldPlugin SHARED HelloWorldPlugin.cc) target_link_libraries(HelloWorldPlugin diff --git a/examples/simple_plugin/CMakeLists.txt b/examples/simple_plugin/CMakeLists.txt index b7c617041..4d3811315 100644 --- a/examples/simple_plugin/CMakeLists.txt +++ b/examples/simple_plugin/CMakeLists.txt @@ -5,8 +5,8 @@ project(gz-physics-simple-plugin) find_package(gz-plugin3 REQUIRED COMPONENTS all) set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) -find_package(gz-physics8 REQUIRED) -set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR}) +find_package(gz-physics9 REQUIRED) +set(GZ_PHYSICS_VER ${gz-physics9_VERSION_MAJOR}) add_library(SimplePlugin SHARED plugin.cc EntityManagementFeatures.cc) target_link_libraries(SimplePlugin diff --git a/package.xml b/package.xml index e190f27d5..99d5c00d3 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ - gz-physics8 - 8.0.0 + gz-physics9 + 9.0.0 Gazebo Physics : Physics classes and functions for robot applications Steve Peters Apache License 2.0 diff --git a/tutorials/06-physics-simulation-concepts.md b/tutorials/06-physics-simulation-concepts.md index b23b36015..fd7cf8433 100644 --- a/tutorials/06-physics-simulation-concepts.md +++ b/tutorials/06-physics-simulation-concepts.md @@ -35,8 +35,8 @@ cars depending on physics engines and visualize the collision concept. To run the demo world, download the SDFormat file by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics8/examples/worlds/diff_drive.sdf -P ~ -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics8/examples/worlds/velocity_control.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/examples/worlds/diff_drive.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/examples/worlds/velocity_control.sdf -P ~ ``` Then run the simulation: diff --git a/tutorials/07-implementing-a-physics-plugin.md b/tutorials/07-implementing-a-physics-plugin.md index ec793ba9f..f03bce7fb 100644 --- a/tutorials/07-implementing-a-physics-plugin.md +++ b/tutorials/07-implementing-a-physics-plugin.md @@ -71,7 +71,7 @@ a plugin. - The third argument is the `FeatureList`, specifying all the features that this plugin provides, i.e. `HelloWorldFeatureList` -### Setup CMakeLists.txt for building (Version: gz-physics8) +### Setup CMakeLists.txt for building (Version: gz-physics9) Now create a file named `CMakeLists.txt` with your favorite editor and add these lines for finding `gz-plugin` and `gz-physics` dependencies for the Fortress release: diff --git a/tutorials/08-implementing-a-custom-feature.md b/tutorials/08-implementing-a-custom-feature.md index 8cf3e5464..30772b6d7 100644 --- a/tutorials/08-implementing-a-custom-feature.md +++ b/tutorials/08-implementing-a-custom-feature.md @@ -133,7 +133,7 @@ will not run at the same time when requested. ### Define custom feature template -With the requirements and restrictions above, we first need to define a feature template for the custom feature. In this case, this feature will be responsible for retrieving world pointer from the physics engine. The template is placed in [World.hh](https://github.com/gazebosim/gz-physics/blob/gz-physics8/dartsim/src/World.hh): +With the requirements and restrictions above, we first need to define a feature template for the custom feature. In this case, this feature will be responsible for retrieving world pointer from the physics engine. The template is placed in [World.hh](https://github.com/gazebosim/gz-physics/blob/main/dartsim/src/World.hh): \snippet dartsim/src/World.hh feature template @@ -176,24 +176,24 @@ After defining the feature template, we can add it to a custom The custom feature `RetrieveWorld` is added to `CustomFeatureList`, other custom features could also be added here. The `CustomFeatures` "FeatureList" here uses data structures and classes from: -- [Base.hh](https://github.com/gazebosim/gz-physics/blob/gz-physics8/dartsim/src/Base.hh), which defines structures that contain information to create `Model`, `Joint`, `Link`, and `Shape` objects in Dartsim API. +- [Base.hh](https://github.com/gazebosim/gz-physics/blob/main/dartsim/src/Base.hh), which defines structures that contain information to create `Model`, `Joint`, `Link`, and `Shape` objects in Dartsim API. They act as an interface between Gazebo Physics Library and the actual physics engine. - \ref gz::physics::Implements3d "Implements3d" for implementing the custom feature with \ref gz::physics::FeaturePolicy3d "FeaturePolicy3d" ("FeaturePolicy" of 3 dimensions and scalar type `double`). -We will then implement the actual function with Dartsim API in [CustomFeatures.cc](https://github.com/gazebosim/gz-physics/blob/gz-physics8/dartsim/src/CustomFeatures.cc) to override the member function +We will then implement the actual function with Dartsim API in [CustomFeatures.cc](https://github.com/gazebosim/gz-physics/blob/main/dartsim/src/CustomFeatures.cc) to override the member function declared in the custom feature header file: \snippet dartsim/src/CustomFeatures.cc implementation Here, we implement the behavior of `GetDartsimWorld` with Dartsim API to return the world pointer from `EntityStorage` object storing world pointers of `dartsim` in -[Base](https://github.com/gazebosim/gz-physics/blob/gz-physics8/dartsim/src/Base.hh) class. +[Base](https://github.com/gazebosim/gz-physics/blob/main/dartsim/src/Base.hh) class. In the end, we add the implemented `CustomFeatures` "FeatureList" together with other \ref gz::physics::FeatureList "FeatureList" to final `DartsimFeatures` -"FeatureList" as in [dartsim/src/plugin.cc](https://github.com/gazebosim/gz-physics/blob/gz-physics8/dartsim/src/plugin.cc) +"FeatureList" as in [dartsim/src/plugin.cc](https://github.com/gazebosim/gz-physics/blob/main/dartsim/src/plugin.cc) (please see the \ref createphysicsplugin "Implement a physics feature" tutorial for registering the plugin to Gazebo Physics).