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ign -> gz Shared Lib Migration : gz-physics #356

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merged 5 commits into from
Jul 1, 2022
Merged

ign -> gz Shared Lib Migration : gz-physics #356

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e04e410
Migrate shared lib references
methylDragon Jun 14, 2022
dd28a29
Migrate SDF params
methylDragon Jun 27, 2022
6ea659a
Add migration notes for shared libraries
methylDragon Jun 28, 2022
9b3f657
Update kExpressedIn -> expressedIn
methylDragon Jun 28, 2022
bdbd669
Update migration notes
methylDragon Jun 29, 2022
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5 changes: 5 additions & 0 deletions Migration.md
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Expand Up @@ -14,6 +14,9 @@ release will remove the deprecated code.
1. Header files under `ignition/...` are deprecated and will be removed in future versions.
Use `gz/...` instead.

1. The shared libraries have `gz` where there used to be `ignition`.
1. Using the un-migrated version is still possible due to tick-tocks, but will be removed in future versions.

1. The following `IGN_` / `IGNITION_` prefixed macros are deprecated and will be removed in future versions.
Additionally, they will only be available when including the corresponding `ignition/...` header.
Use the `GZ_` prefix instead.
Expand All @@ -26,6 +29,8 @@ release will remove the deprecated code.
1. `IGNITION_PHYSICS_CONST_GET_ERROR` (hard-tocked, inside detail header)
1. `IGNITION_UNITTEST_EXPECTDATA_ACCESS` (hard-tocked, inside test and detail headers)
1. `IGNITION_PHYSICS_DEFINE_COORDINATE_SPACE` (hard-tocked, inside detail header)
1. The `ignition:expressed_in` SDF attribute is deprecated and will be removed.
Please use `gz:expressed_in` instead.

### Breaking Changes

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20 changes: 17 additions & 3 deletions dartsim/src/SDFFeatures.cc
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Expand Up @@ -829,12 +829,26 @@ Identity SDFFeatures::ConstructSdfCollision(
math::Vector3d fdir1 = frictionDirectionElem->Get<math::Vector3d>();
aspect->setFirstFrictionDirection(math::eigen3::convert(fdir1));

const std::string kExpressedIn = "ignition:expressed_in";
if (frictionDirectionElem->HasAttribute(kExpressedIn))
std::string expressedIn = "gz:expressed_in";

// TODO(CH3): Deprecated. Remove on tock.
// Try deprecated ignition:expressed_in attribute
// if gz:expressed_in attribute is missing
if (!frictionDirectionElem->HasAttribute("gz:expressed_in"))
{
if (frictionDirectionElem->HasAttribute("ignition:expressed_in"))
{
gzwarn << "The `ignition:expressed_in` attribute is deprecated. "
<< "Please use `gz:expressed_in` instead." << std::endl;
expressedIn = "ignition:expressed_in";
}
}

if (frictionDirectionElem->HasAttribute(expressedIn))
{
auto skeleton = bn->getSkeleton();
auto directionFrameBodyNode = skeleton->getBodyNode(
frictionDirectionElem->Get<std::string>(kExpressedIn));
frictionDirectionElem->Get<std::string>(expressedIn));
if (nullptr != directionFrameBodyNode)
{
aspect->setFirstFrictionDirectionFrame(directionFrameBodyNode);
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4 changes: 2 additions & 2 deletions dartsim/worlds/falling.world
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Expand Up @@ -2,8 +2,8 @@
<sdf version="1.6">
<world name="default">
<plugin
filename="libgz-sim-physics-system.so"
name="gz::gazebo::systems::v0::Physics">
filename="gz-sim-physics-system"
name="gz::sim::systems::v0::Physics">
</plugin>
<model name="sphere">
<pose>0 0 2 0 0.78539816339 0</pose>
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2 changes: 1 addition & 1 deletion tutorials/04-switching-physics-engines.md
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Expand Up @@ -86,7 +86,7 @@ gz sim --physics-engine CustomEngine
### From C++ API

All features available through the command line are also available through
[gz::gazebo::ServerConfig](https://gazebosim.org/api/gazebo/4.0/classignition_1_1gazebo_1_1ServerConfig.html).
[gz::sim::ServerConfig](https://gazebosim.org/api/gazebo/4.0/classignition_1_1gazebo_1_1ServerConfig.html).
When instantiating a server programmatically, a physics engine can be passed to
the constructor, for example:

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