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2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
Original file line number Diff line number Diff line change
@@ -11,7 +11,7 @@ jobs:
uses: actions/checkout@v2
- name: Compile and test
id: ci
uses: ignition-tooling/action-ignition-ci@master
uses: ignition-tooling/action-ignition-ci@bionic
with:
codecov-token: ${{ secrets.CODECOV_TOKEN }}
focal-ci:
15 changes: 7 additions & 8 deletions README.md
Original file line number Diff line number Diff line change
@@ -9,9 +9,9 @@

Build | Status
-- | --
Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-master-bionic-amd64)
Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-master-homebrew-amd64)
Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics3/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics3-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics3-bionic-amd64)
Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics3-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics3-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
@@ -72,7 +72,7 @@ See the [installation tutorial](https://ignitionrobotics.org/api/physics/3.0/ins

# Usage

Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/master/examples/).
Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/ign-physics3/examples/).

# Documentation

@@ -147,18 +147,17 @@ ign-physics
```
# Contributing

Please see
[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
Please see the [contribution guide](https://ignitionrobotics.org/docs/all/contributing).

# Code of Conduct

Please see
[CODE\_OF\_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
[CODE\_OF\_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/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.

# 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/master/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/ignitionrobotics/ign-physics/blob/main/LICENSE) file.
6 changes: 3 additions & 3 deletions tutorials/02_installation.md
Original file line number Diff line number Diff line change
@@ -103,15 +103,15 @@ command-line tools:
2. Run the following commands
```
brew tap osrf/simulation
brew install ignition-physics2
brew install ignition-physics3
```

## Source Installation

1. Install dependencies
```
brew tap osrf/simulation
brew install ignition-physics2 --only-dependencies
brew install ignition-physics3 --only-dependencies
```

2. Clone the repository
@@ -208,7 +208,7 @@ 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-physics2
git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics3
```

3. Configure and build the documentation.
8 changes: 4 additions & 4 deletions tutorials/03_physics_plugins.md
Original file line number Diff line number Diff line change
@@ -76,13 +76,13 @@ Users do not need to organize their own plugin implementations this way.
<!-- ### Bullet -->

Dart ([Dynamic Animation and Robotics Toolkit](https://dartsim.github.io/)) is an open source library that provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.
It is the default physics engine used in Ignition.
The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/master) under `dartsim` directory.
It is the default physics engine used in Ignition Simulation.
The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3) under `dartsim` directory.

TPE ([Trivial Physics Engine](https://github.com/ignitionrobotics/ign-physics/tree/master/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
TPE ([Trivial Physics Engine](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
It supports higher-order fleet dynamics without real physics (eg. gravity, force, constraint etc.) and multi-machine synchronization.
Ignition support for TPE targets [Citadel](https://ignitionrobotics.org/docs/citadel) and onward releases.
The source code for TPE plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2) under `tpe/plugin` directory
The source code for TPE plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3) under the `tpe/plugin` directory.

The following is a list of features supported by each physics engine to help users select one that fits their needs.

2 changes: 1 addition & 1 deletion tutorials/06-physics-simulation-concepts.md
Original file line number Diff line number Diff line change
@@ -68,7 +68,7 @@ This command tells the car to move in its coordinate frame with velocity
second in Z-axis.

Note that the mechanism to move the car is different depending on the used physics
engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim),
engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/dartsim),
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/diff_drive/DiffDrive.cc#L333) code.
Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/tpe),
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/velocity_control/VelocityControl.cc#L117) code.
16 changes: 8 additions & 8 deletions tutorials/08-implementing-a-custom-feature.md
Original file line number Diff line number Diff line change
@@ -11,7 +11,7 @@ In the last \ref createphysicsplugin "Implement a physics plugin" tutorial, we
know how to implement a dummy physics engine as a plugin and load it using
\ref ignition::physics "Ignition Physics API". In this tutorial, we will look
deeper into the structure of a physics engine plugin, for example, the available
[DART](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim)
[DART](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/dartsim)
physics engine in `ign-physics` repository and how to define a custom
\ref ignition::physics::Feature "Feature" for the plugin.

@@ -181,11 +181,11 @@ dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
The new defined feature file is placed in `dartsim/include/ignition/physics/dartsim`:
```
dartsim
├── worlds
├── src
├── worlds
├── src
├── include/ignition/physics/dartsim
│ ├── World.hh
└── CMakeLists.txt
└── CMakeLists.txt
```

As seen above, after including the necessary library of `dartsim` and `ign-physics`,
@@ -214,13 +214,13 @@ and implemented in [CustomFeatures.cc](https://github.com/ignitionrobotics/ign-p
These files are place as follows:
```
dartsim
├── worlds
├── worlds
├── src
│ ├── CustomFeatures.hh
│ ├── CustomFeatures.cc
│ ├── ...
├── include/ignition/physics/dartsim
└── CMakeLists.txt
│ ├── ...
├── include/ignition/physics/dartsim
└── CMakeLists.txt
```

We display them here for convenience:
12 changes: 6 additions & 6 deletions tutorials/09-set-up-physics-engine-tpe.md
Original file line number Diff line number Diff line change
@@ -3,7 +3,7 @@
## Prerequisites

In the previous tutorial \ref installation "Installation", you have installed
the Ignition Physics corresponding to the desired Ignition release.
the Ignition Physics corresponding to the desired Ignition release.

## How to adapt a physics engine as a plugin in Ignition Physics

@@ -12,7 +12,7 @@ know how to implement a dummy physics engine as a plugin and load it using
\ref ignition::physics "Ignition Physics API". In
\ref createcustomfeature "Implement a custom feature" tutorial, we know how to
define and implement a custom feature in an existing
[DART](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim) physics
[DART](https://github.com/ignitionrobotics/ign-physics/tree/main/dartsim) physics
plugin. This tutorial will explain step-by-step how to use any physics engine
with Ignition Physics. We will use [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe)
as an example for this tutorial.
@@ -27,10 +27,10 @@ is commented in detail:
```
tpe
├── lib Main physics engine implementation.
│ ├── src
│ ├── src
│ ├── CMakeLists.txt CMake build script for physics engine implementation.
├── plugin Main implementation of the plugin features interfacing the physics engines API
│ ├── src
│ ├── src
│ | ├── plugin.cc Main file for the plugin declaration and plugin registering.
│ | ├── <FEATURES>.hh The FeatureList header file.
│ | ├── <FEATURES>.cc Implementation of the FeatureList, which adapts to functions implemented in lib used in the FeatureList.
@@ -137,10 +137,10 @@ Now the folder structure looks like this:
tpe
├── lib
├── plugin
│ ├── src
│ ├── src
│ | ├── plugin.cc
│ | ├── Base.hh
│ | ├── EntityManagementFeatures.hh
│ | ├── EntityManagementFeatures.hh
│ | ├── EntityManagementFeatures.cc
│ | ├── EntityManagement_TEST.cc
│ ├── CMakeLists.txt