Add redirection headers

Signed-off-by: methylDragon <[email protected]>

CMakeLists.txt

@@ -13,7 +13,10 @@ find_package(ignition-cmake2 2.14.0 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/physics
+  VERSION_SUFFIX pre1
+)
 
 #============================================================================
 # Set project-specific options

dartsim/include/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(gz)
+install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})

dartsim/include/gz/physics/dartsim/World.hh

@@ -15,14 +15,14 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_WORLD_HH_
-#define IGNITION_PHYSICS_DARTSIM_WORLD_HH_
+#ifndef GZ_PHYSICS_DARTSIM_WORLD_HH_
+#define GZ_PHYSICS_DARTSIM_WORLD_HH_
 
 #include <dart/simulation/World.hpp>
 
 #include <ignition/physics/FeatureList.hh>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 

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

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/physics/dartsim-plugin/Export.hh>
+#include <ignition/physics/config.hh>

dartsim/include/ignition/physics/dartsim/World.hh

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/physics/dartsim/World.hh>
+#include <ignition/physics/config.hh>

dartsim/src/Base.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_BASE_HH_
-#define IGNITION_PHYSICS_DARTSIM_BASE_HH_
+#ifndef GZ_PHYSICS_DARTSIM_BASE_HH_
+#define GZ_PHYSICS_DARTSIM_BASE_HH_
 
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/SimpleFrame.hpp>
@@ -33,7 +33,7 @@
 #include <ignition/common/Console.hh>
 #include <ignition/physics/Implements.hh>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 

dartsim/src/Base_TEST.cc

@@ -35,7 +35,7 @@
 #include "EntityManagementFeatures.hh"
 #include "SDFFeatures.hh"
 
-using namespace ignition::physics;
+using namespace gz::physics;
 
 
 

dartsim/src/Collisions_TEST.cc

@@ -35,43 +35,43 @@
 
 #include <ignition/common/MeshManager.hh>
 
-using TestFeatureList = ignition::physics::FeatureList<
-  ignition::physics::LinkFrameSemantics,
-  ignition::physics::ForwardStep,
-  ignition::physics::GetEntities,
-  ignition::physics::ConstructEmptyWorldFeature,
-  ignition::physics::ConstructEmptyModelFeature,
-  ignition::physics::ConstructEmptyLinkFeature,
-  ignition::physics::mesh::AttachMeshShapeFeature,
-  ignition::physics::AttachPlaneShapeFeature,
-  ignition::physics::SetFreeJointRelativeTransformFeature,
-  ignition::physics::AttachFixedJointFeature
+using TestFeatureList = gz::physics::FeatureList<
+  gz::physics::LinkFrameSemantics,
+  gz::physics::ForwardStep,
+  gz::physics::GetEntities,
+  gz::physics::ConstructEmptyWorldFeature,
+  gz::physics::ConstructEmptyModelFeature,
+  gz::physics::ConstructEmptyLinkFeature,
+  gz::physics::mesh::AttachMeshShapeFeature,
+  gz::physics::AttachPlaneShapeFeature,
+  gz::physics::SetFreeJointRelativeTransformFeature,
+  gz::physics::AttachFixedJointFeature
 >;
 
-using TestWorldPtr = ignition::physics::World3dPtr<TestFeatureList>;
-using TestEnginePtr = ignition::physics::Engine3dPtr<TestFeatureList>;
+using TestWorldPtr = gz::physics::World3dPtr<TestFeatureList>;
+using TestEnginePtr = gz::physics::Engine3dPtr<TestFeatureList>;
 
 using WorldConstructor = std::function<TestWorldPtr(const TestEnginePtr&)>;
 
 std::unordered_set<TestWorldPtr> LoadWorlds(
     const std::string &_library,
     const WorldConstructor &_constructor)
 {
-  ignition::plugin::Loader loader;
+  gz::plugin::Loader loader;
   loader.LoadLib(_library);
 
   const std::set<std::string> pluginNames =
-      ignition::physics::FindFeatures3d<TestFeatureList>::From(loader);
+      gz::physics::FindFeatures3d<TestFeatureList>::From(loader);
 
   std::unordered_set<TestWorldPtr> worlds;
   for (const std::string &name : pluginNames)
   {
-    ignition::plugin::PluginPtr plugin = loader.Instantiate(name);
+    gz::plugin::PluginPtr plugin = loader.Instantiate(name);
 
     std::cout << " -- Plugin name: " << name << std::endl;
 
     auto engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(plugin);
+        gz::physics::RequestEngine3d<TestFeatureList>::From(plugin);
     EXPECT_NE(nullptr, engine);
 
     worlds.insert(_constructor(engine));
@@ -86,11 +86,11 @@ class Collisions_TEST
 {};
 
 INSTANTIATE_TEST_CASE_P(PhysicsPlugins, Collisions_TEST,
-    ::testing::ValuesIn(ignition::physics::test::g_PhysicsPluginLibraries),); // NOLINT
+    ::testing::ValuesIn(gz::physics::test::g_PhysicsPluginLibraries),); // NOLINT
 
 TestWorldPtr ConstructMeshPlaneWorld(
-    const ignition::physics::Engine3dPtr<TestFeatureList> &_engine,
-    const ignition::common::Mesh &_mesh)
+    const gz::physics::Engine3dPtr<TestFeatureList> &_engine,
+    const gz::common::Mesh &_mesh)
 {
   auto world = _engine->ConstructEmptyWorld("world");
 
@@ -109,7 +109,7 @@ TestWorldPtr ConstructMeshPlaneWorld(
   model = world->ConstructEmptyModel("plane");
   link = model->ConstructEmptyLink("link");
 
-  link->AttachPlaneShape("plane", ignition::physics::LinearVector3d::UnitZ());
+  link->AttachPlaneShape("plane", gz::physics::LinearVector3d::UnitZ());
   link->AttachFixedJoint(nullptr);
 
   return world;
@@ -122,7 +122,7 @@ TEST_P(Collisions_TEST, MeshAndPlane)
     return;
 
   const std::string meshFilename = IGNITION_PHYSICS_RESOURCE_DIR "/chassis.dae";
-  auto &meshManager = *ignition::common::MeshManager::Instance();
+  auto &meshManager = *gz::common::MeshManager::Instance();
   auto *mesh = meshManager.Load(meshFilename);
 
   std::cout << "Testing library " << library << std::endl;
@@ -138,9 +138,9 @@ TEST_P(Collisions_TEST, MeshAndPlane)
     EXPECT_NEAR(
           0.0, link->FrameDataRelativeToWorld().pose.translation()[2], 1e-6);
 
-    ignition::physics::ForwardStep::Output output;
-    ignition::physics::ForwardStep::State state;
-    ignition::physics::ForwardStep::Input input;
+    gz::physics::ForwardStep::Output output;
+    gz::physics::ForwardStep::State state;
+    gz::physics::ForwardStep::Input input;
     for (std::size_t i = 0; i < 1000; ++i)
     {
       world->Step(output, state, input);

dartsim/src/CustomFeatures.cc

@@ -17,7 +17,7 @@
 
 #include "CustomFeatures.hh"
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 

dartsim/src/CustomFeatures.hh

@@ -24,7 +24,7 @@
 
 #include "Base.hh"
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 

dartsim/src/CustomMeshShape.cc

@@ -23,18 +23,18 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/SubMesh.hh>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 
 namespace {
 /////////////////////////////////////////////////
 unsigned int CheckNumVerticesPerFaces(
-    const ignition::common::SubMesh &_inputSubmesh,
+    const gz::common::SubMesh &_inputSubmesh,
     const unsigned int _submeshIndex,
     const std::string &_path)
 {
-  using namespace ignition::common;
+  using namespace gz::common;
 
   const SubMesh::PrimitiveType type = _inputSubmesh.SubMeshPrimitiveType();
 
@@ -76,9 +76,9 @@ unsigned int CheckNumVerticesPerFaces(
 
 /////////////////////////////////////////////////
 unsigned int GetPrimitiveType(
-    const ignition::common::SubMesh &_inputSubmesh)
+    const gz::common::SubMesh &_inputSubmesh)
 {
-  using namespace ignition::common;
+  using namespace gz::common;
 
   const SubMesh::PrimitiveType type = _inputSubmesh.SubMeshPrimitiveType();
 
@@ -97,7 +97,7 @@ unsigned int GetPrimitiveType(
 
 /////////////////////////////////////////////////
 CustomMeshShape::CustomMeshShape(
-    const ignition::common::Mesh &_input,
+    const gz::common::Mesh &_input,
     const Eigen::Vector3d &_scale)
   : dart::dynamics::MeshShape(_scale, nullptr)
 {
@@ -123,7 +123,7 @@ CustomMeshShape::CustomMeshShape(
   // Fill in submesh contents
   for (unsigned int i = 0; i < numSubMeshes; ++i)
   {
-    const ignition::common::SubMeshPtr &inputSubmesh =
+    const gz::common::SubMeshPtr &inputSubmesh =
         _input.SubMeshByIndex(i).lock();
 
     scene->mMeshes[i] = nullptr;
@@ -205,11 +205,11 @@ CustomMeshShape::CustomMeshShape(
 
     for (unsigned int j = 0; j < numVertices; ++j)
     {
-      const ignition::math::Vector3d &v = inputSubmesh->Vertex(j);
+      const gz::math::Vector3d &v = inputSubmesh->Vertex(j);
       for (unsigned int k = 0; k < 3; ++k)
         mesh->mVertices[j][k] = static_cast<ai_real>(v[k]);
 
-      const ignition::math::Vector3d &n = inputSubmesh->Normal(j);
+      const gz::math::Vector3d &n = inputSubmesh->Normal(j);
       for (unsigned int k = 0; k < 3; ++k)
         mesh->mNormals[j][k] = static_cast<ai_real>(n[k]);
     }

dartsim/src/CustomMeshShape.hh

@@ -15,28 +15,28 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_
-#define IGNITION_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_
+#ifndef GZ_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_
+#define GZ_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_
 
 #include <dart/dynamics/MeshShape.hpp>
 #include <ignition/common/Mesh.hh>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 
 /// \brief This class creates a custom derivative of dartsim's MeshShape class
-/// which allows an ignition::common::Mesh to be converted into a MeshShape that
+/// which allows an gz::common::Mesh to be converted into a MeshShape that
 /// can be used by dartsim.
 class CustomMeshShape : public dart::dynamics::MeshShape
 {
   public: CustomMeshShape(
-      const ignition::common::Mesh &_input,
+      const gz::common::Mesh &_input,
       const Eigen::Vector3d &_scale);
 };
 
 }
 }
 }
 
-#endif  // IGNITION_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_
+#endif  // GZ_PHYSICS_DARTSIM_SRC_CUSTOMMESHSHAPE_HH_

dartsim/src/EntityManagementFeatures.cc

@@ -29,7 +29,7 @@
 #include <dart/collision/CollisionFilter.hpp>
 #include <dart/collision/CollisionObject.hpp>
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {
 

dartsim/src/EntityManagementFeatures.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_SRC_GETENTITIESFEATURE_HH_
-#define IGNITION_PHYSICS_DARTSIM_SRC_GETENTITIESFEATURE_HH_
+#ifndef GZ_PHYSICS_DARTSIM_SRC_GETENTITIESFEATURE_HH_
+#define GZ_PHYSICS_DARTSIM_SRC_GETENTITIESFEATURE_HH_
 
 #include <string>
 
@@ -28,7 +28,7 @@
 
 #include "Base.hh"
 
-namespace ignition {
+namespace gz {
 namespace physics {
 namespace dartsim {