4 ➡️ 5

CMakeLists.txt

@@ -8,12 +8,12 @@ project(ignition-physics5 VERSION 5.0.0)
 #============================================================================
 # Find ignition-cmake
 #============================================================================
-find_package(ignition-cmake2 2.1.0 REQUIRED)
+find_package(ignition-cmake2 2.8.0 REQUIRED)
 
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project()
+ign_configure_project(VERSION_SUFFIX)
 
 
 #============================================================================
@@ -37,7 +37,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 # Find ignition-common
 ign_find_package(ignition-common4
   COMPONENTS graphics profiler
-  REQUIRED_BY mesh dartsim tpe tpelib)
+  REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
 set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
 
 #--------------------------------------
@@ -62,7 +62,7 @@ ign_find_package(EIGEN3 REQUIRED)
 #--------------------------------------
 # Find SDFormat for the SDF features
 ign_find_package(sdformat12
-  REQUIRED_BY sdf dartsim tpe)
+  REQUIRED_BY sdf dartsim tpe bullet)
 
 #--------------------------------------
 # Find dartsim for the dartsim plugin wrapper
@@ -78,6 +78,13 @@ ign_find_package(DART
   PKGCONFIG dart
   PKGCONFIG_VER_COMPARISON >=)
 
+#--------------------------------------
+# Find bullet for the bullet plugin wrapper
+ign_find_package(IgnBullet
+  VERSION 2.87
+  REQUIRED_BY bullet
+  PKGCONFIG bullet
+  PKGCONFIG_VER_COMPARISON >=)
 
 message(STATUS "-------------------------------------------\n")
 
@@ -92,7 +99,7 @@ set(IGNITION_PHYSICS_ENGINE_INSTALL_DIR
 # Configure the build
 #============================================================================
 ign_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS sdf mesh dartsim tpe)
+  COMPONENTS sdf heightmap mesh dartsim tpe bullet)
 
 
 #============================================================================
@@ -115,3 +122,5 @@ ign_create_docs(
     "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
     "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
   )
+
+file(COPY ${CMAKE_SOURCE_DIR}/tutorials/img/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/img/)

Changelog.md

@@ -8,6 +8,48 @@
 
 ### Ignition Physics 4.x.x (20XX-XX-XX)
 
+### Ignition Physics 4.2.0 (2021-07-16)
+
+1. Support FreeGroup features for nested models
+    * [Pull request #231](https://github.com/ignitionrobotics/ign-physics/pull/231)
+
+1. Add Gravity Feature, fix LinkFeatures_TEST
+    * [Pull request #275](https://github.com/ignitionrobotics/ign-physics/pull/275)
+
+1. Heightmaps 🏔️
+    * [Pull request #218](https://github.com/ignitionrobotics/ign-physics/pull/218)
+
+1. Added Ellipsoid and Capsule shapes to TPE
+    * [Pull request #203](https://github.com/ignitionrobotics/ign-physics/pull/203)
+
+1. Fix collision detection issue when using joints across nested models
+    * [Pull request #268](https://github.com/ignitionrobotics/ign-physics/pull/268)
+
+1. Use slip compliance APIs available in upstream dartsim release
+    * [Pull request #265](https://github.com/ignitionrobotics/ign-physics/pull/265)
+
+1. Fix DART deprecation warning
+    * [Pull request #263](https://github.com/ignitionrobotics/ign-physics/pull/263)
+
+1. Integrate Bullet engine
+    * [Pull request #208](https://github.com/ignitionrobotics/ign-physics/pull/208)
+
+1. Remove `tools/code_check` and update codecov
+    * [Pull request #257](https://github.com/ignitionrobotics/ign-physics/pull/257)
+
+1. [Citadel] Update tutorials
+    * [Pull request #204](https://github.com/ignitionrobotics/ign-physics/pull/204)
+    * [Pull request #259](https://github.com/ignitionrobotics/ign-physics/pull/259)
+
+### Ignition Physics 4.1.0 (2021-05-01)
+
+1. [TPE] Update link pose and velocity
+    * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179)
+
+1. Infrastructure
+    * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221)
+    * [Pull request #215](https://github.com/ignitionrobotics/ign-physics/pull/215)
+
 ### Ignition Physics 4.0.0 (2021-03-30)
 
 1. Remove nested models
@@ -85,6 +127,20 @@
 
 ### Ignition Physics 3.x.x (20XX-XX-XX)
 
+### Ignition Physics 3.3.0 (2021-06-18)
+
+1. Fix DART deprecation warning
+    * [Pull request #263](https://github.com/ignitionrobotics/ign-physics/pull/263)
+
+1. Integrate Bullet engine
+    * [Pull request #208](https://github.com/ignitionrobotics/ign-physics/pull/208)
+
+1. Remove `tools/code_check` and update codecov
+    * [Pull request #257](https://github.com/ignitionrobotics/ign-physics/pull/257)
+
+1. [Citadel] Update tutorials
+    * [Pull request #204](https://github.com/ignitionrobotics/ign-physics/pull/204)
+
 ### Ignition Physics 3.2.0 (2021-04-28)
 
 1. Infrastructure

Migration.md

@@ -5,6 +5,16 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Physics 4.1 to 4.2
+
+### Additions
+
+1. Bullet: new plugin implementation.
+
+1. Heightmap: Feature defined and implemented in dartsim.
+
+1. TPE: Capsule and Ellipsoid shapes added.
+
 ## Ignition Physics 3.X to 4.X
 
 ### Modifications

bullet/CMakeLists.txt

@@ -0,0 +1,74 @@
+# This component expresses custom features of the bullet plugin, which can
+# expose native bullet data types.
+ign_add_component(bullet INTERFACE
+  DEPENDS_ON_COMPONENTS sdf mesh
+  GET_TARGET_NAME features)
+
+link_directories(${BULLET_LIBRARY_DIRS})
+target_link_libraries(${features} INTERFACE IgnBullet::IgnBullet)
+
+ign_get_libsources_and_unittests(sources test_sources)
+
+# TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake
+set(engine_name bullet-plugin)
+ign_add_component(${engine_name}
+  SOURCES ${sources}
+  DEPENDS_ON_COMPONENTS bullet
+  GET_TARGET_NAME bullet_plugin)
+
+target_link_libraries(${bullet_plugin}
+  PUBLIC
+    ${features}
+    ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+    ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    ignition-math${IGN_MATH_VER}::eigen3)
+
+# Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
+install(TARGETS ${bullet_plugin} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+
+# The library created by `ign_add_component` includes the ign-physics version
+# (i.e. libignition-physics1-name-plugin.so), but for portability,
+# we also install an unversioned symlink into the same versioned folder.
+set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
+set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
+if (WIN32)
+  # disable MSVC inherit via dominance warning
+  target_compile_options(${dartsim_plugin} PUBLIC "/wd4250")
+  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
+      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
+      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
+else()
+  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+endif()
+EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
+INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+
+# Testing
+ign_build_tests(
+  TYPE UNIT_bullet
+  SOURCES ${test_sources}
+  LIB_DEPS
+    ${features}
+    ignition-plugin${IGN_PLUGIN_VER}::loader
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+    ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+  TEST_LIST tests)
+
+foreach(test ${tests})
+
+  target_compile_definitions(${test} PRIVATE
+    "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\""
+    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
+    "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"")
+
+endforeach()
+
+if(TARGET UNIT_FindFeatures_TEST)
+
+  target_compile_definitions(UNIT_FindFeatures_TEST PRIVATE
+    "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\"")
+
+endif()