Bump main to physics 9.0.0~pre1

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

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)

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.

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

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

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

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>gz-physics8</name>
-  <version>8.0.0</version>
+  <name>gz-physics9</name>
+  <version>9.0.0</version>
   <description>Gazebo Physics : Physics classes and functions for robot applications</description>
   <maintainer email="[email protected]">Steve Peters</maintainer>
   <license>Apache License 2.0</license>

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:

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:

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).