Skip to content

Commit

Permalink
bump main to 9.0.0~pre1 (#696)
Browse files Browse the repository at this point in the history
Signed-off-by: Ian Chen <[email protected]>
  • Loading branch information
iche033 authored Oct 10, 2024
1 parent 9f5250c commit 1bfdcbe
Show file tree
Hide file tree
Showing 10 changed files with 25 additions and 21 deletions.
4 changes: 2 additions & 2 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand Down
4 changes: 4 additions & 0 deletions Changelog.md
Original file line number Diff line number Diff line change
@@ -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)
Expand Down
6 changes: 3 additions & 3 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand All @@ -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.
Expand Down
4 changes: 2 additions & 2 deletions examples/hello_world_loader/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/hello_world_plugin/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions examples/simple_plugin/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions package.xml
Original file line number Diff line number Diff line change
@@ -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>
Expand Down
4 changes: 2 additions & 2 deletions tutorials/06-physics-simulation-concepts.md
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down
2 changes: 1 addition & 1 deletion tutorials/07-implementing-a-physics-plugin.md
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down
10 changes: 5 additions & 5 deletions tutorials/08-implementing-a-custom-feature.md
Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -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).

Expand Down

0 comments on commit 1bfdcbe

Please sign in to comment.