Partial source and cmake migrations

Signed-off-by: methylDragon <[email protected]>
gazebosim · Jul 13, 2022 · 6018890 · 6018890
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diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -1,10 +1,10 @@
 libbenchmark-dev
 libeigen3-dev
-libignition-cmake3-dev
-libignition-common5-dev
-libignition-math7-dev
-libignition-math7-eigen3-dev
-libignition-plugin2-dev
-libignition-utils2-cli-dev
-libignition-utils2-dev
+libgz-cmake3-dev
+libgz-common5-dev
+libgz-math7-dev
+libgz-math7-eigen3-dev
+libgz-plugin2-dev
+libgz-utils2-cli-dev
+libgz-utils2-dev
 libsdformat13-dev
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -24,4 +24,4 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy
diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml
@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,9 +16,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/physics
-  VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -96,7 +94,7 @@ 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}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
 )
 
 #============================================================================

diff --git a/Changelog.md b/Changelog.md
@@ -38,7 +38,7 @@
 1. Fix TPE Link velocity not being updated and Model velocity not having any effect.
     * [Pull request #289](https://github.com/gazebosim/gz-physics/pull/289)
 
-1. Make ignition-physics CMake config files relocatable
+1. Make gz-physics CMake config files relocatable
     * [Pull request #282](https://github.com/gazebosim/gz-physics/pull/282)
 
 1. Added DART feature for setting joint limits dynamically.
@@ -91,7 +91,7 @@
     * [Pull request #287](https://github.com/gazebosim/gz-physics/pull/287)
     * [Pull request #281](https://github.com/gazebosim/gz-physics/pull/281)
 
-1. Make ignition-physics CMake config files relocatable
+1. Make gz-physics CMake config files relocatable
     * [Pull request #282](https://github.com/gazebosim/gz-physics/pull/282)
 
 ### Gazebo Physics 4.2.0 (2021-07-16)

diff --git a/Migration.md b/Migration.md
@@ -61,7 +61,7 @@ release will remove the deprecated code.
 
 ### Modifications
 
-1. Depends on ignition-utils1.
+1. Depends on gz-utils1.
 
 1. Depends on sdformat11.
 

diff --git a/README.md b/README.md
@@ -128,7 +128,7 @@ Follow these steps to run tests and static code analysis in your clone of this r
 Refer to the following table for information about important directories and files in this repository.
 
 ```
-ign-physics
+gz-physics
 ├── bullet                    Files for bullet plugin component.
 ├── dartsim                   Files for dartsim plugin component.
 ├── example                   Examples about how to use the library

diff --git a/api.md.in b/api.md.in
@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications.
 
 ## License

diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
@@ -9,7 +9,7 @@ target_link_libraries(${features} INTERFACE GzBullet::GzBullet)
 
 gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for gz-cmake
 set(engine_name bullet-plugin)
 gz_add_component(${engine_name}
   SOURCES ${sources}
@@ -30,7 +30,7 @@ install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 # Install redirection headers
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
 
 # The library created by `gz_add_component` includes the gz-physics version
 # (i.e. libgz-physics1-name-plugin.so), but for portability,

diff --git a/configure.bat b/configure.bat
diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
@@ -13,11 +13,11 @@ endif()
 
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
 
 gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for gz-cmake
 set(engine_name dartsim-plugin)
 gz_add_component(${engine_name}
   SOURCES ${sources}

diff --git a/dartsim/src/JointFeatures_TEST.cc b/dartsim/src/JointFeatures_TEST.cc
@@ -834,7 +834,7 @@ TEST_F(JointFeaturesFixture, JointAttachDetach)
   // the same as it was before they were attached
   fixedJoint->SetTransformFromParent(poseParentChild);
 
-  // The name of the link obtained using the ign-physics API should remain the
+  // The name of the link obtained using the gz-physics API should remain the
   // same even though AttachFixedJoint renames the associated BodyNode.
   EXPECT_EQ(bodyName, model2Body->GetName());
 
@@ -855,7 +855,7 @@ TEST_F(JointFeaturesFixture, JointAttachDetach)
   // now detach joint and expect model2 to start moving again
   fixedJoint->Detach();
 
-  // The name of the link obtained using the ign-physics API should remain the
+  // The name of the link obtained using the gz-physics API should remain the
   // same even though Detach renames the associated BodyNode.
   EXPECT_EQ(bodyName, model2Body->GetName());
 
@@ -1030,7 +1030,7 @@ TEST_F(JointFeaturesFixture, JointAttachDetachSpawnedModel)
   const auto poseParent = dartBody1->getTransform();
   const auto poseChild = dartBody2->getTransform();
 
-  // Before ign-physics PR #31, uncommenting the following `step` call makes
+  // Before gz-physics PR #31, uncommenting the following `step` call makes
   // this test pass, but commenting it out makes it fail.
   // world->Step(output, state, input);
   auto fixedJoint = model2Body->AttachFixedJoint(model1Body);

diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
@@ -665,7 +665,7 @@ Identity SDFFeatures::ConstructSdfLink(
       this->ConstructSdfCollision(linkIdentity, *collision);
   }
 
-  // ign-physics is currently ignoring visuals, so we won't parse them from the
+  // gz-physics is currently ignoring visuals, so we won't parse them from the
   // SDF
 //  for (std::size_t i = 0; i < _sdfLink.VisualCount(); ++i)
 //  {

diff --git a/heightmap/CMakeLists.txt b/heightmap/CMakeLists.txt
@@ -7,4 +7,4 @@ target_link_libraries(${heightmap}
 
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/include/gz/physics/TemplateHelpers.hh b/include/gz/physics/TemplateHelpers.hh
@@ -66,7 +66,7 @@ namespace gz
 /// \brief Use this macro to create an API "selector" for a custom class.
 ///
 /// Features may define APIs for class types that are not anticipated ahead of
-/// time by the ign-physics library. When aggregating the API for that class
+/// time by the gz-physics library. When aggregating the API for that class
 /// from a set of features, the Aggregator must be given a Selector that can
 /// ignore features that don't mention the class (or else a compilation failure
 /// would occur).

diff --git a/include/gz/physics/detail/RelativeQuantity.hh b/include/gz/physics/detail/RelativeQuantity.hh
@@ -477,8 +477,8 @@ namespace gz
             const Quantity &_box,
             const RotationType &/*_currentCoordinates*/)
         {
-          // TODO(anyone): Replace with gzwarn when/if we add an ign console
-          // dependency to ign-physics
+          // TODO(anyone): Replace with gzwarn when/if we add a gz console
+          // dependency to gz-physics
           std::cerr << "[AABBSpace::ResolveToWorldCoordinates] Warning: "
                     << "Axis-aligned bounding boxes cannot undergo coordinate "
                     << "changes.\n";
@@ -490,8 +490,8 @@ namespace gz
             const RotationType &/*_currentCoordinates*/,
             const RotationType &/*_targetCoordinates*/)
         {
-          // TODO(anyone): Replace with gzwarn when/if we add an ign console
-          // dependency to ign-physics
+          // TODO(anyone): Replace with gzwarn when/if we add a gz console
+          // dependency to gz-physics
           std::cerr << "[AABBSpace::ResolveToTargetCoordinates] Warning: "
                     << "Axis-aligned bounding boxes cannot undergo coordinate "
                     << "changes.\n";

diff --git a/mesh/CMakeLists.txt b/mesh/CMakeLists.txt
@@ -7,4 +7,4 @@ target_link_libraries(${mesh}
 
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
diff --git a/sdf/CMakeLists.txt b/sdf/CMakeLists.txt
@@ -5,4 +5,4 @@ target_link_libraries(${sdf} INTERFACE ${SDFormat_LIBRARIES})
 
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
diff --git a/sdf/include/gz/physics/sdf/ConstructVisual.hh b/sdf/include/gz/physics/sdf/ConstructVisual.hh
@@ -32,7 +32,7 @@ class ConstructSdfVisual : public virtual Feature
   class Link : public virtual Feature::Link<PolicyT, FeaturesT>
   {
     // TODO(MXG): Return a Shape type instead of a bool once we have shape
-    // features in the core ign-physics library.
+    // features in the core gz-physics library.
     public: bool ConstructVisual(const ::sdf::Visual &_visual);
   };
 

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -1,5 +1,5 @@
 #============================================================================
-# Do a fake install of ign-physics in order to test the examples.
+# Do a fake install of gz-physics in order to test the examples.
 #============================================================================
 set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
 

diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
@@ -1,4 +1,4 @@
-include(IgnBenchmark)
+include(GzBenchmark)
 
 set(tests
   ExpectData.cc

diff --git a/test/integration/FrameSemantics.hh b/test/integration/FrameSemantics.hh
@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_TEST_INTEGRATION_FRAMESEMANTICS_HH
-#define IGNITION_PHYSICS_TEST_INTEGRATION_FRAMESEMANTICS_HH
+#ifndef GZ_PHYSICS_TEST_INTEGRATION_FRAMESEMANTICS_HH
+#define GZ_PHYSICS_TEST_INTEGRATION_FRAMESEMANTICS_HH
 
 #include <gtest/gtest.h>
 #include <cmath>

diff --git a/test/integration/JointTypes.hh b/test/integration/JointTypes.hh
@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_TEST_INGEGRATION_JOINTTYPES_HH
-#define IGNITION_PHYSICS_TEST_INGEGRATION_JOINTTYPES_HH
+#ifndef GZ_PHYSICS_TEST_INGEGRATION_JOINTTYPES_HH
+#define GZ_PHYSICS_TEST_INGEGRATION_JOINTTYPES_HH
 
 #include <gtest/gtest.h>
 #include <string>

diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
@@ -1,7 +1,7 @@
 gz_get_sources(tests)
 
 # ExpectData test causes lcov to hang
-# see ign-cmake issue 25
+# see gz-cmake issue 25
 if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "COVERAGE")
   list(REMOVE_ITEM tests
     ExpectData.cc)

diff --git a/tpe/CMakeLists.txt b/tpe/CMakeLists.txt
@@ -3,4 +3,4 @@ add_subdirectory(plugin)
 
 install(
   DIRECTORY include/
-  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+  DESTINATION "${GZ_INCLUDE_INSTALL_DIR_FULL}")
diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
@@ -9,7 +9,7 @@ target_include_directories(${features} SYSTEM INTERFACE)
 
 gz_get_libsources_and_unittests(sources test_sources)
 
-# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
+# TODO(MXG): Think about an gz_add_plugin(~) macro for gz-cmake
 set(engine_name tpe-plugin)
 gz_add_component(${engine_name}
   SOURCES ${sources}

diff --git a/tpe/plugin/src/SDFFeatures.cc b/tpe/plugin/src/SDFFeatures.cc
@@ -321,7 +321,7 @@ Identity SDFFeatures::ConstructSdfCollision(
   }
   // \todo(anyone) add mesh. currently mesh has to be loaded externally
   // and passed in as argument as there is no logic for searching resources
-  // in ign-physics
+  // in gz-physics
   const auto collisionIdentity = this->AddCollision(link->GetId(), *collision);
 
   // set collide bitmask

diff --git a/tutorials.md.in b/tutorials.md.in
@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @GZ_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
 
 
 **Contents**

diff --git a/tutorials/01_intro.md b/tutorials/01_intro.md
@@ -20,7 +20,7 @@ Gazebo Physics extensibility and modularity.
 For a big picture of the Gazebo Physics operation in Gazebo ecosystem, see
 the abstract diagram below:
 
-@image html img/ign-libraries.png
+@image html img/gz-libraries.png
 
 In general, `gz-sim` is the main simulation library, in which its
 functionalities are powered by many component libraries.