ign -> gz Header Migration : ign-physics

CMakeLists.txt

@@ -13,7 +13,9 @@ find_package(ignition-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX pre1)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/physics
+  VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options

bullet/CMakeLists.txt

@@ -27,6 +27,11 @@ target_link_libraries(${bullet_plugin}
 # 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 redirection headers
+install(
+  DIRECTORY include/
+  DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
+
 # 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.

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

@@ -0,0 +1,18 @@
+/*
+ * 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/bullet-plugin/Export.hh>

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

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2018 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.
+ *
+*/
+
+#ifndef GZ_PHYSICS_DARTSIM_WORLD_HH_
+#define GZ_PHYSICS_DARTSIM_WORLD_HH_
+
+#include <dart/simulation/World.hpp>
+
+#include <gz/physics/FeatureList.hh>
+
+namespace ignition {
+namespace physics {
+namespace dartsim {
+
+/////////////////////////////////////////////////
+class RetrieveWorld : public virtual Feature
+{
+  public: template <typename PolicyT, typename FeaturesT>
+  class World : public virtual Feature::World<PolicyT, FeaturesT>
+  {
+    /// \brief Get the underlying dartsim world for this World object.
+    public: dart::simulation::WorldPtr GetDartsimWorld();
+  };
+
+  public: template <typename PolicyT>
+  class Implementation : public virtual Feature::Implementation<PolicyT>
+  {
+    public: virtual dart::simulation::WorldPtr GetDartsimWorld(
+        const Identity &_worldID) = 0;
+  };
+};
+
+/////////////////////////////////////////////////
+//! [feature template]
+template <typename PolicyT, typename FeaturesT>
+dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
+::GetDartsimWorld()
+{
+  return this->template Interface<RetrieveWorld>()
+      ->GetDartsimWorld(this->identity);
+}
+//! [feature template]
+
+}
+}
+}
+
+#endif

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

@@ -0,0 +1,18 @@
+/*
+ * 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>

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

@@ -13,50 +13,6 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_WORLD_HH_
-#define IGNITION_PHYSICS_DARTSIM_WORLD_HH_
-
-#include <dart/simulation/World.hpp>
-
-#include <ignition/physics/FeatureList.hh>
-
-namespace ignition {
-namespace physics {
-namespace dartsim {
-
-/////////////////////////////////////////////////
-class RetrieveWorld : public virtual Feature
-{
-  public: template <typename PolicyT, typename FeaturesT>
-  class World : public virtual Feature::World<PolicyT, FeaturesT>
-  {
-    /// \brief Get the underlying dartsim world for this World object.
-    public: dart::simulation::WorldPtr GetDartsimWorld();
-  };
-
-  public: template <typename PolicyT>
-  class Implementation : public virtual Feature::Implementation<PolicyT>
-  {
-    public: virtual dart::simulation::WorldPtr GetDartsimWorld(
-        const Identity &_worldID) = 0;
-  };
-};
-
-/////////////////////////////////////////////////
-//! [feature template]
-template <typename PolicyT, typename FeaturesT>
-dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
-::GetDartsimWorld()
-{
-  return this->template Interface<RetrieveWorld>()
-      ->GetDartsimWorld(this->identity);
-}
-//! [feature template]
-
-}
-}
-}
-
-#endif
+#include <gz/physics/dartsim/World.hh>

examples/hello_world_loader/hello_world_loader.cc

@@ -19,12 +19,12 @@
 //! [include statements]
 #include <iostream>
 
-#include <ignition/plugin/Loader.hh>
-#include <ignition/plugin/PluginPtr.hh>
+#include <gz/plugin/Loader.hh>
+#include <gz/plugin/PluginPtr.hh>
 
-#include <ignition/physics/FindFeatures.hh>
-#include <ignition/physics/GetEntities.hh>
-#include <ignition/physics/RequestEngine.hh>
+#include <gz/physics/FindFeatures.hh>
+#include <gz/physics/GetEntities.hh>
+#include <gz/physics/RequestEngine.hh>
 
 // The features that an engine must have to be loaded by this loader.
 using Features = ignition::physics::FeatureList<

examples/hello_world_plugin/HelloWorldPlugin.cc

@@ -17,10 +17,10 @@
 
 ////////////////////////////////////////////////////////////
 //! [include statements]
-#include <ignition/physics/FeatureList.hh>
-#include <ignition/physics/FeaturePolicy.hh>
-#include <ignition/physics/GetEntities.hh>
-#include <ignition/physics/Register.hh>
+#include <gz/physics/FeatureList.hh>
+#include <gz/physics/FeaturePolicy.hh>
+#include <gz/physics/GetEntities.hh>
+#include <gz/physics/Register.hh>
 //! [include statements]
 
 namespace mock

examples/simple_plugin/EntityManagementFeatures.hh

@@ -17,11 +17,11 @@
 
 //! [basic include]
 #include <string>
-#include <ignition/physics/Implements.hh>
+#include <gz/physics/Implements.hh>
 //! [basic include]
 
 //! [include feature]
-#include <ignition/physics/ConstructEmpty.hh>
+#include <gz/physics/ConstructEmpty.hh>
 
 namespace ignition {
 namespace physics {

examples/simple_plugin/EntityManagementFeatures_TEST.cc

@@ -17,8 +17,8 @@
 
 #include <iostream>
 
-#include <ignition/plugin/Loader.hh>
-#include <ignition/physics/RequestEngine.hh>
+#include <gz/plugin/Loader.hh>
+#include <gz/physics/RequestEngine.hh>
 #include "EntityManagementFeatures.hh"
 
 // Simple executable that loads the simple plugin and constructs a world.

examples/simple_plugin/plugin.cc

@@ -15,9 +15,9 @@
  *
 */
 
-#include <ignition/physics/FeatureList.hh>
-#include <ignition/physics/FeaturePolicy.hh>
-#include <ignition/physics/Register.hh>
+#include <gz/physics/FeatureList.hh>
+#include <gz/physics/FeaturePolicy.hh>
+#include <gz/physics/Register.hh>
 
 #include "EntityManagementFeatures.hh"
 

heightmap/include/gz/physics/heightmap/HeightmapShape.hh

@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+#ifndef GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_
+#define GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_
+
+#include <string>
+
+#include <gz/common/geospatial/HeightmapData.hh>
+
+#include <gz/physics/DeclareShapeType.hh>
+#include <gz/physics/Geometry.hh>
+
+namespace ignition
+{
+namespace physics
+{
+namespace heightmap
+{
+  IGN_PHYSICS_DECLARE_SHAPE_TYPE(HeightmapShape)
+
+  /////////////////////////////////////////////////
+  class GetHeightmapShapeProperties
+    : public virtual FeatureWithRequirements<HeightmapShapeCast>
+  {
+    public: template <typename PolicyT, typename FeaturesT>
+    class HeightmapShape : public virtual Entity<PolicyT, FeaturesT>
+    {
+      public: using Dimensions =
+          typename FromPolicy<PolicyT>::template Use<LinearVector>;
+
+      /// \brief Get the size of the heightmap in meters.
+      /// \returns The size of the heightmap.
+      public: Dimensions GetSize() const;
+    };
+
+    public: template <typename PolicyT>
+    class Implementation : public virtual Feature::Implementation<PolicyT>
+    {
+      public: using Dimensions =
+          typename FromPolicy<PolicyT>::template Use<LinearVector>;
+
+      public: virtual Dimensions GetHeightmapShapeSize(
+          const Identity &_heightmapID) const = 0;
+    };
+  };
+
+  /////////////////////////////////////////////////
+  /// \brief Attach a heightmap shape to a link.
+  class AttachHeightmapShapeFeature
+      : public virtual FeatureWithRequirements<HeightmapShapeCast>
+  {
+    public: template <typename PolicyT, typename FeaturesT>
+    class Link : public virtual Feature::Link<PolicyT, FeaturesT>
+    {
+      public: using PoseType =
+          typename FromPolicy<PolicyT>::template Use<Pose>;
+
+      public: using Dimensions =
+          typename FromPolicy<PolicyT>::template Use<LinearVector>;
+
+      public: using ShapePtrType = HeightmapShapePtr<PolicyT, FeaturesT>;
+
+      /// \brief Attach a heightmap shape to a link.
+      /// \param[in] _name Shape's name.
+      /// \param[in] _heightmapData Contains the 3D data for the heigthtmap.
+      /// \param[in] _pose Position in the world.
+      /// \param[in] _size Heightmap total size in meters.
+      /// \param[in] _subSampling Increase sampling to improve resolution.
+      public: ShapePtrType AttachHeightmapShape(
+          const std::string &_name,
+          const common::HeightmapData &_heightmapData,
+          const PoseType &_pose,
+          const Dimensions &_size,
+          int _subSampling = 1);
+    };
+
+    public: template <typename PolicyT>
+    class Implementation : public virtual Feature::Implementation<PolicyT>
+    {
+      public: using PoseType =
+          typename FromPolicy<PolicyT>::template Use<Pose>;
+
+      public: using Dimensions =
+          typename FromPolicy<PolicyT>::template Use<LinearVector>;
+
+      public: virtual Identity AttachHeightmapShape(
+          const Identity &_linkID,
+          const std::string &_name,
+          const common::HeightmapData &_heightmapData,
+          const PoseType &_pose,
+          const Dimensions &_size,
+          int _subSampling) = 0;
+    };
+  };
+}
+}
+}
+
+#include <gz/physics/heightmap/detail/HeightmapShape.hh>
+
+#endif  // GZ_PHYSICS_HEIGHTMAP_HEIGHTMAPSHAPE_HH_

heightmap/include/ignition/physics/heightmap/detail/HeightmapShape.hh → heightmap/include/gz/physics/heightmap/detail/HeightmapShape.hh

@@ -15,12 +15,12 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_HEIGHTMAP_DETAIL_HEIGHTMAPSHAPE_HH_
-#define IGNITION_PHYSICS_HEIGHTMAP_DETAIL_HEIGHTMAPSHAPE_HH_
+#ifndef GZ_PHYSICS_HEIGHTMAP_DETAIL_HEIGHTMAPSHAPE_HH_
+#define GZ_PHYSICS_HEIGHTMAP_DETAIL_HEIGHTMAPSHAPE_HH_
 
 #include <string>
 
-#include <ignition/physics/heightmap/HeightmapShape.hh>
+#include <gz/physics/heightmap/HeightmapShape.hh>
 
 namespace ignition
 {
@@ -56,4 +56,4 @@ namespace heightmap
 }
 }
 
-#endif  // IGNITION_PHYSICS_MESH_DETAIL_MESHSHAPE_HH_
+#endif  // GZ_PHYSICS_MESH_DETAIL_MESHSHAPE_HH_