Merge from main

Signed-off-by: Ian Chen <[email protected]>

.github/CODEOWNERS

@@ -1,4 +1,4 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @azeey @mxgrey @scpeters
+*                     @azeey @scpeters

.github/workflows/ci.yml

@@ -5,7 +5,7 @@ on:
   push:
     branches:
       - 'ign-physics[0-9]'
-      - 'gz-physics[0-9]?'
+      - 'gz-physics[1-9]?[0-9]'
       - 'main'
 
 jobs:
@@ -22,3 +22,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

CMakeLists.txt

@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-physics8 VERSION 8.0.0)
+project(gz-physics9 VERSION 9.0.0)
 
 #============================================================================
 # Find gz-cmake
@@ -16,7 +16,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -78,7 +78,7 @@ gz_find_package(DART
     utils
     utils-urdf
   CONFIG
-  VERSION 6.9
+  VERSION 6.10
   REQUIRED_BY dartsim
   PKGCONFIG dart
   PKGCONFIG_VER_COMPARISON >=)

Changelog.md

@@ -1,9 +1,124 @@
+## Gazebo Physics 9.x
+
+### Gazebo Physics 9.0.0 (20XX-XX-XX)
+
 ## Gazebo Physics 8.x
 
-### Gazebo Physics 8.0.0 (2023-XX-XX)
+### Gazebo Physics 8.0.0 (2024-09-25)
+
+1. **Baseline:** this includes all changes from 7.3.0 and earlier.
+
+1. Miscellaneous documentation fixes
+    * [Pull request #691](https://github.com/gazebosim/gz-physics/pull/691)
+    * [Pull request #689](https://github.com/gazebosim/gz-physics/pull/689)
+    * [Pull request #690](https://github.com/gazebosim/gz-physics/pull/690)
+    * [Pull request #688](https://github.com/gazebosim/gz-physics/pull/688)
+    * [Pull request #686](https://github.com/gazebosim/gz-physics/pull/686)
+    * [Pull request #684](https://github.com/gazebosim/gz-physics/pull/684)
+    * [Pull request #683](https://github.com/gazebosim/gz-physics/pull/683)
+    * [Pull request #682](https://github.com/gazebosim/gz-physics/pull/682)
+    * [Pull request #681](https://github.com/gazebosim/gz-physics/pull/681)
+
+1. Remove deprecated functions
+    * [Pull request #673](https://github.com/gazebosim/gz-physics/pull/673)
+
+1. Enable 24.04 CI, require cmake 3.22.1
+    * [Pull request #671](https://github.com/gazebosim/gz-physics/pull/671)
+
+1. bullet-featherstone: Support empty links
+    * [Pull request #665](https://github.com/gazebosim/gz-physics/pull/665)
+
+1. Fix CTAD compile warnings
+    * [Pull request #663](https://github.com/gazebosim/gz-physics/pull/663)
+
+1. bullet-featherstone: Enforce joint velocity and effort limits for velocity control commands
+    * [Pull request #658](https://github.com/gazebosim/gz-physics/pull/658)
+
+1. Add Cone as a collision shape
+    * [Pull request #639](https://github.com/gazebosim/gz-physics/pull/639)
+
+1. dartsim: optimize picking contact points with ODE collision detector
+    * [Pull request #584](https://github.com/gazebosim/gz-physics/pull/584)
+
+1. Add no gravity link support
+    * [Pull request #633](https://github.com/gazebosim/gz-physics/pull/633)
+
+1. bullet-featherstone: Support convex decomposition for meshes
+    * [Pull request #606](https://github.com/gazebosim/gz-physics/pull/606)
+
+1. Find python directly instead of using GzPython
+    * [Pull request #625](https://github.com/gazebosim/gz-physics/pull/625)
+
+1. Fix unused variable warning
+    * [Pull request #624](https://github.com/gazebosim/gz-physics/pull/624)
+
+1. Support setting solver iterations
+    * [Pull request #609](https://github.com/gazebosim/gz-physics/pull/609)
+
+1. Define `GZ_PHYSICS_VERSION_NAMESPACE` in config.hh
+    * [Pull request #597](https://github.com/gazebosim/gz-physics/pull/597)
+
+1. Remove `HIDE_SYMBOLS_BY_DEFAULT`: replace by a default configuration in gz-cmake.
+    * [Pull request #588](https://github.com/gazebosim/gz-physics/pull/588)
+
+1. Use `HIDE_SYMBOLS_BY_DEFAULT`
+    * [Pull request #576](https://github.com/gazebosim/gz-physics/pull/576)
+
+1. Bump dependency versions: gz-cmake4, gz-common6, gz-math8, gz-plugin3, gz-utils3, sdformat15
+    * [Pull request #561](https://github.com/gazebosim/gz-physics/pull/561)
+
+1. Bump major version to 8
+    * [Pull request #560](https://github.com/gazebosim/gz-physics/pull/560)
 
 ## Gazebo Physics 7.x
 
+### Gazebo Physics 7.3.0 (2024-06-25)
+
+1. Backport: Add Cone as a collision shape
+    * [Pull request #639](https://github.com/gazebosim/gz-physics/pull/639)
+
+1. [featherstone] Publish JointFeedback forces.
+    * [Pull request #628](https://github.com/gazebosim/gz-physics/pull/628)
+
+1. Parse voxel resolution when decomposing meshes
+    * [Pull request #655](https://github.com/gazebosim/gz-physics/pull/655)
+
+1. bullet-featherstone: Fix attaching fixed joint between models with inertial pose offset
+    * [Pull request #653](https://github.com/gazebosim/gz-physics/pull/653)
+
+1. Ray intersection simulation feature
+    * [Pull request #641](https://github.com/gazebosim/gz-physics/pull/641)
+
+1. bullet-featherstone: Fix bounding box for collisions with pose offset
+    * [Pull request #647](https://github.com/gazebosim/gz-physics/pull/647)
+
+1. bullet-featherstone: Update fixed constraint behavior
+    * [Pull request #632](https://github.com/gazebosim/gz-physics/pull/632)
+
+1. Update InspectFeatures.hh
+    * [Pull request #645](https://github.com/gazebosim/gz-physics/pull/645)
+
+1. bullet-featherstone: Fix convex hull shape's AABB
+    * [Pull request #637](https://github.com/gazebosim/gz-physics/pull/637)
+
+1. Add package.xml
+    * [Pull request #608](https://github.com/gazebosim/gz-physics/pull/608)
+
+1. bullet-featurestore: Enable auto deactivation
+    * [Pull request #630](https://github.com/gazebosim/gz-physics/pull/630)
+
+1. bullet-featherstone: Support convex decomposition for meshes
+    * [Pull request #606](https://github.com/gazebosim/gz-physics/pull/606)
+
+1. backport bullet-featherstone solver iters
+    * [Pull request #619](https://github.com/gazebosim/gz-physics/pull/619)
+
+1. bullet-featherstone: fix SetWorldPose with off-diagonal moment of inertia
+    * [Pull request #623](https://github.com/gazebosim/gz-physics/pull/623)
+
+1. Revert "Disable check in DetachableJointTest, CorrectAttachmentPoints for dartsim plugin on macOS (#613)"
+    * [Pull request #615](https://github.com/gazebosim/gz-physics/pull/615)
+
 ### Gazebo Physics 7.2.0 (2024-04-10)
 
 1. Use relative install paths for plugin shared libraries
@@ -111,6 +226,66 @@
 
 ## Gazebo Physics 6.x
 
+### Gazebo Physics 6.6.0 (2024-06-11)
+
+1. dartsim: optimize picking contact points with ODE collision detector
+    * [Pull request #584](https://github.com/gazebosim/gz-physics/pull/584)
+
+1. Fix windows compiler warning
+    * [Pull request #629](https://github.com/gazebosim/gz-physics/pull/629)
+
+1. Disable test failing due to ODE/libccd
+    * [Pull request #621](https://github.com/gazebosim/gz-physics/pull/621)
+
+1. bullet-featherstone: Improve mesh collision stability
+    * [Pull request #600](https://github.com/gazebosim/gz-physics/pull/600)
+
+1. bullet-featherstone: Support nested models
+    * [Pull request #574](https://github.com/gazebosim/gz-physics/pull/574)
+
+1. Revert "bazel: updates for garden (#513)"
+    * [Pull request #513](https://github.com/gazebosim/gz-physics/pull/513)
+
+1. Garden test cleanup
+    * [Pull request #587](https://github.com/gazebosim/gz-physics/pull/587)
+
+1. Support setting max contacts in dartsim's ODE collision detector
+    * [Pull request #582](https://github.com/gazebosim/gz-physics/pull/582)
+
+1. Get bullet version from cmake instead of API
+    * [Pull request #591](https://github.com/gazebosim/gz-physics/pull/591)
+
+1. Reduce error to debug messsage for mesh construction (#581)
+    * [Pull request #581](https://github.com/gazebosim/gz-physics/pull/581)
+
+1. bullet-featherstone: Set collision spinning friction
+    * [Pull request #579](https://github.com/gazebosim/gz-physics/pull/579)
+
+1. Infrastructure
+    * [Pull request #578](https://github.com/gazebosim/gz-physics/pull/578)
+    * [Pull request #572](https://github.com/gazebosim/gz-physics/pull/572)
+
+1. dartsim: fix handling inertia matrix pose rotation
+    * [Pull request #351](https://github.com/gazebosim/gz-physics/pull/351)
+
+1. bullet-featherstone: fix setting angular velocity
+    * [Pull request #567](https://github.com/gazebosim/gz-physics/pull/567)
+
+1. bullet-featherstone: support off-diagonal inertia
+    * [Pull request #544](https://github.com/gazebosim/gz-physics/pull/544)
+
+1. bullet-featherstone: Fix how links are flattened in  ConstructSdfModel
+    * [Pull request #562](https://github.com/gazebosim/gz-physics/pull/562)
+
+1. Add sample ctest cmds to tutorial
+    * [Pull request #566](https://github.com/gazebosim/gz-physics/pull/566)
+
+1. Add a test to verify behavior of detachable joints
+    * [Pull request #563](https://github.com/gazebosim/gz-physics/pull/563)
+
+1. Use correct link indicies when constructing fixed constraints
+    * [Pull request #530](https://github.com/gazebosim/gz-physics/pull/530)
+
 ### Gazebo Physics 6.5.1 (2023-09-26)
 
 1. joint_features test: reduce console spam

Migration.md

@@ -5,6 +5,13 @@ 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.
 
+## Gazebo Physics 8.X to 9.X
+
+### Deprecations
+
+* The macro `GZ_PHYSICS_ENGINE_INSTALL_DIR` has been removed. Use
+`gz::physics::getEngineInstallDir()` instead.
+
 ## Gazebo Physics 5.X to 6.X
 
 ### Deprecations

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/tree/gz-physics8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/tree/gz-physics8)
-Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-gz-physics8-jammy-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-jammy-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-gz-physics8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-8-win)](https://build.osrfoundation.org/job/gz_physics-8-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/tree/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-main-win)](https://build.osrfoundation.org/job/gz_physics-main-win)
 
 Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface
 designed to support simulation and rapid development of robot applications.
@@ -69,7 +69,7 @@ Gazebo Physics provides the following functionality:
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/physics/5.0/installation.html).
+See the [installation tutorial](https://gazebosim.org/api/physics/8/installation.html).
 
 # Usage
 
@@ -79,27 +79,33 @@ Please refer to the [examples directory](https://github.com/gazebosim/gz-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.
+On Ubuntu, you can also generate the documentation from a clone of this repository by following these steps.
 
-1. You will need Doxygen. On Ubuntu Doxygen can be installed using
+1. You will need Doxygen, which can be installed using
 
     ```
     sudo apt-get install doxygen
     ```
 
-2. Clone the repository
+2. Install dependencies
+   ```
+   sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
+   sudo apt-get build-dep -y libgz-physics9-dev
+   ```
+
+3. Clone the repository
 
     ```
     git clone https://github.com/gazebosim/gz-physics -b main
     ```
 
-3. Configure and build the documentation.
+4. Configure and build the documentation.
 
     ```
-    cd gz-physics; mkdir build; cd build; cmake ../; make doc
+    cd gz-physics; mkdir build; cd build; cmake ..; make doc
     ```
 
-4. View the documentation by running the following command from the build directory.
+5. View the documentation by running the following command from the build directory.
 
     ```
     firefox doxygen/html/index.html
@@ -109,7 +115,7 @@ 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](#source-install).
+1. Follow the "Source Installation" instructions in the [installation tutorial](https://gazebosim.org/api/physics/8/installation.html).
 
 2. Run tests.
 
@@ -132,19 +138,21 @@ gz-physics
 ├── bullet                    Files for bullet plugin component.
 ├── bullet-featherstone       Files for bullet-featherstone plugin component.
 ├── dartsim                   Files for dartsim plugin component.
-├── example                   Examples about how to use the library
+├── examples                  Examples about how to use the library.
 ├── heightmap                 Heightmap related header files.
 ├── include/gz/physics        Header files.
 ├── mesh                      Files for mesh component.
-├── resources                 Model and mesh resource files used by tests.
 ├── sdf                       Files for sdf component.
 ├── src                       Source files and unit tests.
 ├── test
 │    ├── benchmark            Benchmark tests.
+│    ├── common_test          Tests common to multiple physics plugins.
+│    ├── include              Header files for tests.
 │    ├── integration          Integration tests.
 │    ├── performance          Performance tests.
 │    ├── plugins              Plugins used in tests.
 │    ├── regression           Regression tests.
+│    ├── resources            Models and mesh resource files.
 │    └── static_assert        Tests involving compilation failures.
 ├── tpe
 │    ├── lib                  Implementation of TPE engine.
@@ -164,7 +172,7 @@ Please see
 
 # Versioning
 
-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.
+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 complementary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.
 
 # License