Merge pull request #78 from ignitionrobotics/2_to_master_july_2020

2 ➡️ 3

CMakeLists.txt

@@ -37,7 +37,7 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 # Find ignition-common
 ign_find_package(ignition-common3
   COMPONENTS graphics profiler
-  REQUIRED_BY mesh dartsim)
+  REQUIRED_BY mesh dartsim tpe tpelib)
 set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
 
 #--------------------------------------
@@ -56,7 +56,7 @@ ign_find_package(EIGEN3 REQUIRED)
 
 #--------------------------------------
 # Find SDFormat for the SDF features
-ign_find_package(sdformat9 REQUIRED_BY sdf dartsim)
+ign_find_package(sdformat9 REQUIRED_BY sdf dartsim tpe)
 
 #--------------------------------------
 # Find dartsim for the dartsim plugin wrapper
@@ -76,11 +76,16 @@ message(STATUS "-------------------------------------------\n")
 
 set(IGNITION_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
+# Plugin install dirs
+set(IGNITION_PHYSICS_ENGINE_INSTALL_DIR
+  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+)
+
 #============================================================================
 # Configure the build
 #============================================================================
 ign_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS sdf mesh dartsim)
+  COMPONENTS sdf mesh dartsim tpe)
 
 
 #============================================================================

Changelog.md

@@ -8,6 +8,56 @@
 
 ### Ignition Physics 2.x.x (20XX-XX-XX)
 
+### Ignition Physics 2.1.0 (2020-05-07)
+
+1. Add RequestFeatures API for casting the features of an entity to a new feature set when possible.
+    * [BitBucket pull request 130](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/130)
+
+1. Add Get Bounding Box features
+    * [BitBucket pull request 122](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/122)
+
+1. Install plugins to unversioned files
+    * [BitBucket pull request 121](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/121)
+
+1. Add DetachJointFeature feature.
+    * [BitBucket pull request 102](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/102)
+
+1. Added support for collision bitmasks for collision filtering
+    * [BitBucket pull request 116](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/116)
+
+1. Clean up internal resources when a model gets removed
+    * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/115)
+
+1. Trivial Physics Engine - partial implementation
+    * [BitBucket pull request 125](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/125)
+    * [BitBucket pull request 126](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/126)
+    * [Pull request 30](https://github.com/ignitionrobotics/ign-physics/pull/30)
+    * [Pull request 45](https://github.com/ignitionrobotics/ign-physics/pull/45)
+
+1. Add simple example of physics plugin and loader
+    * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/115)
+
+1. Update BitBucket links, add .gitignore, CODEOWNERS, workflow
+    * [Pull request 34](https://github.com/ignitionrobotics/ign-physics/pull/34)
+    * [Pull request 39](https://github.com/ignitionrobotics/ign-physics/pull/39)
+    * [Pull request 47](https://github.com/ignitionrobotics/ign-physics/pull/47)
+    * [Pull request 52](https://github.com/ignitionrobotics/ign-physics/pull/52)
+
+1. Physics Plugin Documentation
+    * [Pull request 36](https://github.com/ignitionrobotics/ign-physics/pull/36)
+
+1. Reduce the symbol load caused by feature templates
+    * [Pull request 41](https://github.com/ignitionrobotics/ign-physics/pull/41)
+
+1. Fix collision issue with detachable joints
+    * [Pull request 31](https://github.com/ignitionrobotics/ign-physics/pull/31)
+
+1. Add PlaneShape feature and implement in dartsim with test.
+    * [BitBucket pull request 66](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/66)
+
+1. Restore detached BodyNodes to original skeleton
+    * [Pull request 42](https://github.com/ignitionrobotics/ign-physics/pull/42)
+
 ### Ignition Physics 2.0.0 (2019-12-10)
 
 1. Support compiling against dart 6.9.
@@ -27,9 +77,39 @@
 
 ### Ignition Physics 1.x.x (20XX-XX-XX)
 
-### Ignition Physics 1.4.0 (20XX-XX-XX)
+1. Restore detached BodyNodes to original skeleton
+    * [Pull request 42](https://github.com/ignitionrobotics/ign-physics/pull/42)
+
+1. Fix collision issue with detachable joints
+    * [Pull request 31](https://github.com/ignitionrobotics/ign-physics/pull/31)
+
+1. Add PlaneShape feature and implement in dartsim with test.
+    * [BitBucket pull request 66](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/66)
+
+### Ignition Physics 1.7.0 (2020-04-13)
+
+1. Add RequestFeatures API for casting the features of an entity to a new feature set when possible.
+    * [BitBucket pull request 130](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/130)
+
+### Ignition Physics 1.6.0 (2020-03-18)
+
+1. Add Get Bounding Box features
+    * [BitBucket pull request 122](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/122)
+
+1. Install plugins to unversioned files
+    * [BitBucket pull request 121](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/121)
+
+### Ignition Physics 1.5.0 (2020-02-10)
+
+1. Clean up internal resources when a model gets removed
+    * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/115)
+
+1. Add DetachJointFeature feature.
+    * [BitBucket pull request 102](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/102)
+
+### Ignition Physics 1.4.0 (2019-08-27)
 
-1. Add SetJointVelocityCommand feature
+1. Add SetJointVelocityCommand feature.
     * [BitBucket pull request 100](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/100)
 
 1. Add `IGN_PROFILER_ENABLE` cmake option for enabling the ign-common profiler.

README.md

@@ -20,35 +20,35 @@ designed to support simulation and rapid development of robot applications.
 
 # Table of Contents
 
-[Motivation](#markdown-header-motivation)
+[Motivation](#motivation)
 
-[Features](#markdown-header-features)
+[Features](#features)
 
-[Install](#markdown-header-install)
+[Install](#install)
 
-* [Binary Install](#markdown-header-binary-install)
+* [Binary Install](#binary-install)
 
-* [Source Install](#markdown-header-source-install)
+* [Source Install](#source-install)
 
-    * [Prerequisites](#markdown-header-prerequisites)
+    * [Prerequisites](#prerequisites)
 
-    * [Building from Source](#markdown-header-building-from-source)
+    * [Building from Source](#building-from-source)
 
-[Usage](#markdown-header-usage)
+[Usage](#usage)
 
-[Documentation](#markdown-header-documentation)
+[Documentation](#documentation)
 
-[Testing](#markdown-header-testing)
+[Testing](#testing)
 
-[Folder Structure](#markdown-header-folder-structure)
+[Folder Structure](#folder-structure)
 
-[Code of Conduct](#markdown-header-code-of-conduct)
+[Code of Conduct](#code-of-conduct)
 
-[Contributing](#markdown-header-code-of-contributing)
+[Contributing](#code-of-contributing)
 
-[Versioning](#markdown-header-versioning)
+[Versioning](#versioning)
 
-[License](#markdown-header-license)
+[License](#license)
 
 # Motivation
 
@@ -80,9 +80,9 @@ Ignition Physics provides the following functionality:
 
 # Install
 
-We recommend following the [Binary Install](#markdown-header-binary-install) instructions to get up and running as quickly and painlessly as possible.
+We recommend following the [Binary Install](#binary-install) instructions to get up and running as quickly and painlessly as possible.
 
-The [Source Install](#markdown-header-source-install) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
+The [Source Install](#source-install) instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
 
 ## Binary Install
 
@@ -108,6 +108,7 @@ sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_rel
 apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
 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-physics3
+~~~
 
 Use gcc-8:
 
@@ -125,7 +126,7 @@ sudo update-alternatives --install \
 1. Clone the repository
 
     ```
-    git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics3
+    git clone https://github.com/ignitionrobotics/ign-physics -b master
     ```
 
 2. Configure and build
@@ -159,7 +160,7 @@ 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-physics3
+    git clone https://github.com/ignitionrobotics/ign-physics -b master
     ```
 
 3. Configure and build the documentation.
@@ -178,7 +179,7 @@ You can also generate the documentation from a clone of this repository by follo
 
 Follow these steps to run tests and static code analysis in your clone of this repository.
 
-1. Follow the [source install instruction](#markdown-header-source-install).
+1. Follow the [source install instruction](#source-install).
 
 2. Run tests.
 

dartsim/CMakeLists.txt

@@ -15,7 +15,8 @@ install(
 ign_get_libsources_and_unittests(sources test_sources)
 
 # TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake
-ign_add_component(dartsim-plugin
+set(engine_name dartsim-plugin)
+ign_add_component(${engine_name}
   SOURCES ${sources}
   DEPENDS_ON_COMPONENTS dartsim
   GET_TARGET_NAME dartsim_plugin)
@@ -26,14 +27,28 @@ target_link_libraries(${dartsim_plugin}
     ${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)
-
-# We need to link this, even when the profiler isn't used to get headers.
-target_link_libraries(${dartsim_plugin}
+    ignition-math${IGN_MATH_VER}::eigen3
   PRIVATE
-  ignition-common${IGN_COMMON_VER}::profiler
+    # We need to link this, even when the profiler isn't used to get headers.
+    ignition-common${IGN_COMMON_VER}::profiler
 )
 
+# Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
+install(TARGETS ${dartsim_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 ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
+set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
+if (WIN32)
+  # create_symlink requires cmake 3.13 on windows
+  cmake_minimum_required(VERSION 3.13 FATAL_ERROR)
+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
   SOURCES ${test_sources}
@@ -54,9 +69,9 @@ foreach(test ${tests})
 
 endforeach()
 
-if(TARGET UNIT_FindFeatures_TEST)
-
-  target_compile_definitions(UNIT_FindFeatures_TEST PRIVATE
-    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
-
-endif()
+foreach(test UNIT_FindFeatures_TEST UNIT_RequestFeatures_TEST)
+  if(TARGET ${test})
+    target_compile_definitions(${test} PRIVATE
+      "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
+  endif()
+endforeach()