Merge pull request #695 from gazebosim/merge_8_main_20241009

Merge 8 -> main

Author: scpeters

CMakeLists.txt

@@ -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 pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,9 +1,20 @@
 ## Gazebo Physics 8.x
 
-### Gazebo Physics 8.0.0 (2024-09-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)
 

README.md

@@ -9,7 +9,7 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/main)
+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)
@@ -69,37 +69,43 @@ 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
 
-Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/main/examples/).
+Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/gz-physics8/examples/).
 
 # Documentation
 
 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-physics8-dev
+   ```
+
+3. Clone the repository
 
     ```
-    git clone https://github.com/gazebosim/gz-physics -b main
+    git clone https://github.com/gazebosim/gz-physics -b gz-physics8
     ```
 
-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
 

tutorials/01_intro.md

@@ -13,7 +13,7 @@ Users can request for physics engines that support a set of features and the plu
 loading mechanism loads only the engines that implement the requested features.
 Besides, a user-selected physics engine can be integrated into the existing
 code-base by writing a compatible plugin interface, which enables
-Gazebo Physics extensibility and modularity.  
+Gazebo Physics extensibility and modularity.
 
 ## Overview
 
@@ -56,31 +56,3 @@ different physics engines.
 
 For a list of supported physics engines and their descriptions, please refer
 to \ref physicsplugin
-
-## Development timeline
-
-### Features logs
-
-**Gazebo Physics 1.x**
-
-- Initial release
-- Define base concepts: Entity, FeaturePolicy, Feature and FeatureList.
-- Add features for `dartsim` physics engines (more detail in \ref physicsplugin).
-- Add RequestFeatures API for casting the features of an entity to a new feature set when possible.
-- Enforce joint effort limit in `dartsim-plugin`.
-
-**Gazebo Physics 2.x**
-
-- Support SDFormat 1.7 frame semantics.
-- Support compiling against DART 6.9.
-- Trivial Physics Engine (TPE)- partial implementation
-- Add features for TPE physics engines (more detail in \ref physicsplugin).
-- Extend contact data with force, normal, and penetration depth.
-- Add Base and EntityManagement to `tpeplugin`
-
-**Gazebo Physics 3.x**
-
-### Future roadmap
-
-Gazebo Physics evolves closely with the Gazebo ecosystem.
-For a broader overview, please visit [Gazebo's roadmap](https://gazebosim.org/about).

tutorials/02_installation.md

@@ -83,11 +83,8 @@ system requirements.
 
 ## Binary Installation
 
-1. Install Homebrew, which should also prompt you to install the XCode
-command-line tools:
-  ```
-  ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-  ```
+1. Install [Homebrew](https://brew.sh/), which should also prompt you to install the XCode
+command-line tools.
 
 2. Run the following commands
   ```

tutorials/04-switching-physics-engines.md

@@ -1,3 +1,3 @@
 \page physicsengine Use different physics engines
 
-See [Physics engines tutorial](https://gazebosim.org/api/gazebo/3.8/physics.html) in Gazebo.
+See [Physics engines tutorial](https://gazebosim.org/api/sim/9/physics.html) in Gazebo.

tutorials/04_physics_engines.md

@@ -114,7 +114,7 @@ And you'll see the engine info:
 
 ```bash
 Testing plugin: gz::physics::dartsim::Plugin
-  engine name: dartsim-6.10.0
+  engine name: dartsim-6.13.2
 ```
 
 At the time of writing, Gazebo Physics is shipped with