ign -> gz CMake, Python, Partial Source, and File Migrations : gz-physics

.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

.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

.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 }}

CMakeLists.txt

@@ -17,7 +17,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/physics
+  REPLACE_INCLUDE_PATH gz/physics
   VERSION_SUFFIX pre1)
 
 #============================================================================
@@ -96,7 +96,7 @@ 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
 )
 
 #============================================================================

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.
 

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

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

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,

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}

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);

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)
 //  {

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}")

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})

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).

include/gz/physics/detail/RelativeQuantity.hh

@@ -478,7 +478,7 @@ namespace gz
             const RotationType &/*_currentCoordinates*/)
         {
           // TODO(anyone): Replace with gzwarn when/if we add an ign console
-          // dependency to ign-physics
+          // dependency to gz-physics
           std::cerr << "[AABBSpace::ResolveToWorldCoordinates] Warning: "
                     << "Axis-aligned bounding boxes cannot undergo coordinate "
                     << "changes.\n";
@@ -491,7 +491,7 @@ namespace gz
             const RotationType &/*_targetCoordinates*/)
         {
           // TODO(anyone): Replace with gzwarn when/if we add an ign console
-          // dependency to ign-physics
+          // dependency to gz-physics
           std::cerr << "[AABBSpace::ResolveToTargetCoordinates] Warning: "
                     << "Axis-aligned bounding boxes cannot undergo coordinate "
                     << "changes.\n";

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}")

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}")

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);
   };
 

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")
 

test/benchmark/CMakeLists.txt

@@ -1,4 +1,4 @@
-include(IgnBenchmark)
+include(GzBenchmark)
 
 set(tests
   ExpectData.cc

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>

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>

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)

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}")

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}

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

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**

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.

tutorials/02_installation.md

@@ -35,7 +35,7 @@ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 On Ubuntu systems, `apt-get` can be used to install `gz-plugin`:
 ```
 sudo apt-get update
-sudo apt-get install libignition-physics<#>-dev
+sudo apt-get install libgz-physics<#>-dev
 ```
 Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need.
 
@@ -44,7 +44,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
 1. 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 ignition-physics<#>-dev
+  sudo apt-get build-dep -y gz-physics<#>-dev
   ```
   Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need.
 
@@ -90,7 +90,7 @@ command-line tools:
 2. Run the following commands
   ```
   brew tap osrf/simulation
-  brew install ignition-physics<#>
+  brew install gz-physics<#>
   ```
 Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on which version you need.
 
@@ -99,7 +99,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
 1. Install dependencies
   ```
   brew tap osrf/simulation
-  brew install ignition-physics<#> --only-dependencies
+  brew install gz-physics<#> --only-dependencies
   ```
 
 2. Clone the repository
@@ -142,7 +142,7 @@ conda activate gz-ws
 ## Binary Installation
 
 ```
-conda install libignition-physics<#> --channel conda-forge
+conda install libgz-physics<#> --channel conda-forge
 ```
 
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
@@ -156,12 +156,12 @@ This assumes you have created and activated a Conda environment while installing
 
   You can view available versions and their dependencies:
   ```
-  conda search libignition-physics* --channel conda-forge --info
+  conda search libgz-physics* --channel conda-forge --info
   ```
 
   Install dependencies, replacing `<#>` with the desired versions:
   ```
-  conda install libignition-cmake<#> libignition-common<#> libignition-math<#> libignition-plugin<#> libsdformat<#> --channel conda-forge
+  conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-plugin<#> libsdformat<#> --channel conda-forge
   ```
 
 2. Navigate to where you would like to build the library, and clone the repository.