ign -> gz Namespace Migration : gz-physics

CMakeLists.txt

@@ -21,7 +21,7 @@ ign_configure_project(
 # Set project-specific options
 #============================================================================
 
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
   add_definitions("-DIGN_PROFILER_ENABLE=1")
@@ -89,10 +89,10 @@ ign_find_package(IgnBullet
 
 message(STATUS "-------------------------------------------\n")
 
-set(IGNITION_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
+set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
 # Plugin install dirs
-set(IGNITION_PHYSICS_ENGINE_INSTALL_DIR
+set(GZ_PHYSICS_ENGINE_INSTALL_DIR
   ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
 )
 

CONTRIBUTING.md

@@ -1 +1 @@
-See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing).
+See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).

Migration.md

@@ -5,13 +5,22 @@ 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.X to 5.X
+## Gazebo Physics 5.X to 6.X
+
+### Deprecation
+
+1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
+
+1. Header files under `ignition/...` are deprecated and will be removed in future versions.
+   Use `gz/...` instead.
+
+## Gazebo Physics 4.X to 5.X
 
 ### Modifications
 
 1. Depends on sdformat12.
 
-## Ignition Physics 4.1 to 4.2
+## Gazebo Physics 4.1 to 4.2
 
 ### Additions
 
@@ -21,15 +30,15 @@ release will remove the deprecated code.
 
 1. TPE: Capsule and Ellipsoid shapes added.
 
-## Ignition Physics 3.X to 4.X
+## Gazebo Physics 3.X to 4.X
 
 ### Modifications
 
 1. Depends on ignition-utils1.
 
 1. Depends on sdformat11.
 
-1. `ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupCanonicalLink` 
+1. `ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupCanonicalLink`
    has been replaced by `ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupRootLink`.
 
 ### Deprecations
@@ -38,13 +47,13 @@ release will remove the deprecated code.
     + **Deprecation:** `Identity ignition::physics::FreeGroup::CanonicalLink(const Identity &_groupID)`
     + **Replacement:** `Identity ignition::physics::FreeGroup::RootLink(const Identity &_groupID)`
 
-## Ignition Physics 2.X to 3.X
+## Gazebo Physics 2.X to 3.X
 
 ### Modifications
 
 1. Depends on sdformat10.
 
-## Ignition Physics 1.X to 2.X
+## Gazebo Physics 1.X to 2.X
 
 ### Modifications
 

README.md

@@ -1,21 +1,21 @@
-# Ignition Physics : Physics classes and functions for robot applications
+# Gazebo Physics : Physics classes and functions for robot applications
 
 **Maintainer:** scpeters AT openrobotics DOT org
 
-[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-physics.svg)](https://github.com/ignitionrobotics/ign-physics/issues)
-[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-physics.svg)](https://github.com/ignitionrobotics/ign-physics/pulls)
+[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-physics.svg)](https://github.com/gazebosim/gz-physics/issues)
+[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-physics.svg)](https://github.com/gazebosim/gz-physics/pulls)
 [![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
 [![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics6/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/ign-physics6/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics)
 Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics6-focal-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics6-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics6-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics6-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
 
-Ignition Physics, a component of [Ignition
-Robotics](https://ignitionrobotics.org), provides an abstract physics interface
+Gazebo Physics, a component of [Ignition
+Robotics](https://gazebosim.org), provides an abstract physics interface
 designed to support simulation and rapid development of robot applications.
 
 # Table of Contents
@@ -43,7 +43,7 @@ designed to support simulation and rapid development of robot applications.
 Many physics simulation software libraries have been designed for different
 applications (gaming, robotics, science) and with different features
 (rigid or deformable contact, 2d or 3d).
-Ignition Physics is designed on the premise that there is not a single physics
+Gazebo Physics is designed on the premise that there is not a single physics
 engine that is universally best for all simulation contexts.
 It should be possible to support a different set of features
 for each physics engine according to its capabilities.
@@ -52,7 +52,7 @@ based on its context.
 
 # Features
 
-Ignition Physics provides the following functionality:
+Gazebo Physics provides the following functionality:
 
 * Granular definition of physics engine features as optional API's.
 * Plugin interface for loading physics engines with requested features
@@ -70,15 +70,15 @@ Ignition Physics provides the following functionality:
 
 # Install
 
-See the [installation tutorial](https://ignitionrobotics.org/api/physics/5.0/installation.html).
+See the [installation tutorial](https://gazebosim.org/api/physics/5.0/installation.html).
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/ign-physics6/examples/).
+Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/ign-physics6/examples/).
 
 # Documentation
 
-API and tutorials can be found at [https://ignitionrobotics.org/libs/physics](https://ignitionrobotics.org/libs/physics).
+API and tutorials can be found at [https://gazebosim.org/libs/physics](https://gazebosim.org/libs/physics).
 
 You can also generate the documentation from a clone of this repository by following these steps.
 
@@ -91,7 +91,7 @@ You can also generate the documentation from a clone of this repository by follo
 2. Clone the repository
 
     ```
-    git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics6
+    git clone https://github.com/gazebosim/gz-physics -b ign-physics6
     ```
 
 3. Configure and build the documentation.
@@ -155,17 +155,17 @@ ign-physics
 ```
 # Contributing
 
-Please see the [contribution guide](https://ignitionrobotics.org/docs/all/contributing).
+Please see the [contribution guide](https://gazebosim.org/docs/all/contributing).
 
 # Code of Conduct
 
 Please see
-[CODE\_OF\_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
+[CODE\_OF\_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).
 
 # Versioning
 
-This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
+This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-physics/blob/main/LICENSE) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-physics/blob/main/LICENSE) file.

api.md.in

@@ -1,6 +1,6 @@
 ## Ignition @IGN_DESIGNATION_CAP@
 
-Ignition @IGN_DESIGNATION_CAP@ is a component in Ignition Robotics, a set of libraries
+Ignition @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications.
 
 ## License

bullet/CMakeLists.txt

@@ -25,7 +25,7 @@ target_link_libraries(${bullet_plugin}
     ignition-math${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})
+install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
 # Install redirection headers
 install(
@@ -41,14 +41,14 @@ if (WIN32)
   # disable MSVC inherit via dominance warning
   target_compile_options(${bullet_plugin} PUBLIC "/wd4250")
   INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
-      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
-      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
+      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
+      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_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})
+INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
 # Testing
 ign_build_tests(
@@ -67,7 +67,7 @@ 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}\"")
+    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
 
 endforeach()
 

bullet/include/ignition/physics/bullet-plugin/Export.hh

@@ -16,3 +16,4 @@
  */
 
 #include <gz/physics/bullet-plugin/Export.hh>
+#include <ignition/physics/config.hh>

bullet/src/Base.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_BULLET_BASE_HH_
-#define IGNITION_PHYSICS_BULLET_BASE_HH_
+#ifndef GZ_PHYSICS_BULLET_BASE_HH_
+#define GZ_PHYSICS_BULLET_BASE_HH_
 
 #include <btBulletDynamicsCommon.h>
 #include <Eigen/Geometry>
@@ -28,11 +28,11 @@
 #include <vector>
 #include <map>
 
-#include <ignition/common/Console.hh>
-#include <ignition/physics/Implements.hh>
-#include <ignition/math/eigen3/Conversions.hh>
+#include <gz/common/Console.hh>
+#include <gz/physics/Implements.hh>
+#include <gz/math/eigen3/Conversions.hh>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace bullet {
 
@@ -106,7 +106,7 @@ struct JointInfo
   std::size_t parentLinkId;
   // cppcheck-suppress unusedStructMember
   int constraintType;
-  ignition::math::Vector3d axis;
+  gz::math::Vector3d axis;
 };
 
 inline btMatrix3x3 convertMat(Eigen::Matrix3d mat)
@@ -261,6 +261,6 @@ class Base : public Implements3d<FeatureList<Feature>>
 
 }  // namespace bullet
 }  // namespace physics
-}  // namespace ignition
+}  // namespace gz
 
 #endif

bullet/src/EntityManagementFeatures.cc

@@ -24,7 +24,7 @@
 #include "EntityManagementFeatures.hh"
 #include <BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace bullet {
 
@@ -170,4 +170,4 @@ bool EntityManagementFeatures::RemoveModelByName(
 
 }  // namespace bullet
 }  // namespace physics
-}  // namespace ignition
+}  // namespace gz

bullet/src/EntityManagementFeatures.hh

@@ -15,23 +15,23 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_
-#define IGNITION_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_
+#ifndef GZ_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_
+#define GZ_PHYSICS_BULLET_SRC_GETENTITIESFEATURE_HH_
 
 #include <string>
 
-#include <ignition/physics/ConstructEmpty.hh>
-#include <ignition/physics/GetEntities.hh>
-#include <ignition/physics/RemoveEntities.hh>
-#include <ignition/physics/Implements.hh>
+#include <gz/physics/ConstructEmpty.hh>
+#include <gz/physics/GetEntities.hh>
+#include <gz/physics/RemoveEntities.hh>
+#include <gz/physics/Implements.hh>
 
 #include "Base.hh"
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace bullet {
 
-struct EntityManagementFeatureList : ignition::physics::FeatureList<
+struct EntityManagementFeatureList : gz::physics::FeatureList<
   RemoveModelFromWorld,
   ConstructEmptyWorldFeature
 > { };
@@ -60,6 +60,6 @@ class EntityManagementFeatures :
 
 }  // namespace bullet
 }  // namespace physics
-}  // namespace ignition
+}  // namespace gz
 
 #endif

bullet/src/EntityManagement_TEST.cc

@@ -17,33 +17,33 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/plugin/Loader.hh>
+#include <gz/plugin/Loader.hh>
 
-#include <ignition/math/eigen3/Conversions.hh>
+#include <gz/math/eigen3/Conversions.hh>
 
-#include <ignition/physics/RequestEngine.hh>
+#include <gz/physics/RequestEngine.hh>
 
 #include "EntityManagementFeatures.hh"
 #include "JointFeatures.hh"
 
 // ToDo(Lobotuerk): Once more tests are added into this plugin, delete line 35
 // and uncomment 31~33 adding another feature list to clear the warn.
-// struct TestFeatureList : ignition::physics::FeatureList<
-//     ignition::physics::bullet::EntityManagementFeatureList
+// struct TestFeatureList : gz::physics::FeatureList<
+//     gz::physics::bullet::EntityManagementFeatureList
 // > { };
 
-using TestFeatureList = ignition::physics::bullet::EntityManagementFeatureList;
+using TestFeatureList = gz::physics::bullet::EntityManagementFeatureList;
 
 TEST(EntityManagement_TEST, ConstructEmptyWorld)
 {
-  ignition::plugin::Loader loader;
+  gz::plugin::Loader loader;
   loader.LoadLib(bullet_plugin_LIB);
 
-  ignition::plugin::PluginPtr bullet =
-      loader.Instantiate("ignition::physics::bullet::Plugin");
+  gz::plugin::PluginPtr bullet =
+      loader.Instantiate("gz::physics::bullet::Plugin");
 
   auto engine =
-      ignition::physics::RequestEngine3d<TestFeatureList>::From(bullet);
+      gz::physics::RequestEngine3d<TestFeatureList>::From(bullet);
   ASSERT_NE(nullptr, engine);
 
   auto world = engine->ConstructEmptyWorld("empty world");

bullet/src/FreeGroupFeatures.cc

@@ -17,7 +17,7 @@
 
 #include "FreeGroupFeatures.hh"
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace bullet {
 
@@ -81,4 +81,4 @@ void FreeGroupFeatures::SetFreeGroupWorldPose(
 
 }  // namespace bullet
 }  // namespace physics
-}  // namespace ignition
+}  // namespace gz