Merge gz-physics6 into main

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

CMakeLists.txt

@@ -93,8 +93,11 @@ message(STATUS "-------------------------------------------\n")
 set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
 # Plugin install dirs
+set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
+ ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+)
 set(GZ_PHYSICS_ENGINE_INSTALL_DIR
- ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+ ${CMAKE_INSTALL_PREFIX}/${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}
 )
 
 #============================================================================

Changelog.md

@@ -4,7 +4,25 @@
 
 ## Gazebo Physics 6.x
 
-### Gazebo Physics 6.x.x (202X-XX-XX)
+### Gazebo Physics 6.5.0 (2023-08-30)
+
+1. Add optional binary relocatability
+ * [Pull request #507](https://github.com/gazebosim/gz-physics/pull/507)
+
+1. Unregister collision detectors when the darstim plugin is unloaded
+ * [Pull request #529](https://github.com/gazebosim/gz-physics/pull/529)
+
+1. Minor cleanup of dartsim
+ * [Pull request #515](https://github.com/gazebosim/gz-physics/pull/515)
+
+1. Fix Github project automation for new project board
+ * [Pull request #527](https://github.com/gazebosim/gz-physics/pull/527)
+
+1. Check that plugin exists before adding common test
+ * [Pull request #523](https://github.com/gazebosim/gz-physics/pull/523)
+
+1. Clangtidy fixes
+ * [Pull request #514](https://github.com/gazebosim/gz-physics/pull/514)
 
 ### Gazebo Physics 6.4.0 (2023-05-22)
 

dartsim/CMakeLists.txt

@@ -90,7 +90,9 @@ gz_build_tests(
  ${PROJECT_LIBRARY_TARGET_NAME}-sdf
  ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
  ${PROJECT_LIBRARY_TARGET_NAME}-mesh
- TEST_LIST tests)
+ TEST_LIST tests
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 foreach(test ${tests})
 

include/gz/physics/InstallationDirectories.hh

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2023 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_INSTALLATION_DIRECTORIES_HH_
+#define GZ_PHYSICS_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/physics/config.hh>
+#include <gz/physics/Export.hh>
+
+namespace gz
+{
+ namespace physics
+ {
+ inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
+
+ /// \brief getInstallPrefix return the install prefix of the library
+ /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+ GZ_PHYSICS_VISIBLE std::string getInstallPrefix();
+
+ /// \brief getEngineInstallDir return the install directory of the engines
+ GZ_PHYSICS_VISIBLE std::string getEngineInstallDir();
+
+ }
+ }
+}
+
+#endif

include/gz/physics/config.hh.in

@@ -28,7 +28,7 @@
 #define GZ_PHYSICS_VERSION "${PROJECT_VERSION}"
 #define GZ_PHYSICS_VERSION_FULL "${PROJECT_VERSION_FULL}"
 
-#define GZ_PHYSICS_ENGINE_INSTALL_DIR "${GZ_PHYSICS_ENGINE_INSTALL_DIR}"
+#define GZ_PHYSICS_ENGINE_INSTALL_DIR _Pragma ("GCC warning \"'GZ_PHYSICS_ENGINE_INSTALL_DIR' macro is deprecated, use gz::physics::getEngineInstallDir() function instead. \"") "${GZ_PHYSICS_ENGINE_INSTALL_DIR}"
 
 #define GZ_PHYSICS_VERSION_HEADER "Gazebo Physics, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2017 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 

src/CMakeLists.txt

@@ -1,6 +1,14 @@
 gz_get_libsources_and_unittests(sources gtest_sources)
 gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::physics::getInstallPrefix
+ GET_INSTALL_PREFIX_HEADER gz/physics/InstallationDirectories.hh
+ OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_PHYSICS_INSTALL_PREFIX)
 
+set_property(
+ SOURCE InstallationDirectories.cc
+ PROPERTY COMPILE_DEFINITIONS
+ GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR="${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}"
+)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
  PUBLIC
@@ -9,9 +17,16 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
  gz-plugin${GZ_PLUGIN_VER}::register
  Eigen3::Eigen)
 
+if(WIN32)
+ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+ PRIVATE shlwapi)
+endif()
+
 gz_build_tests(
  TYPE UNIT
- SOURCES ${gtest_sources})
+ SOURCES ${gtest_sources}
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 if(TARGET UNIT_FindFeatures_TEST)
  target_link_libraries(UNIT_FindFeatures_TEST

src/InstallationDirectories.cc

@@ -0,0 +1,155 @@
+/*
+ * Copyright (C) 2023 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 <regex>
+
+#include <gz/physics/config.hh>
+#include <gz/physics/InstallationDirectories.hh>
+
+#ifdef _WIN32
+#include <shlwapi.h>
+#endif
+
+namespace gz
+{
+namespace physics
+{
+inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
+
+// We locally import the gz::common::joinPaths function
+// See https://github.com/gazebosim/gz-physics/pull/507#discussion_r1186919267
+// for more details
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/FilesystemBoost.cc#L507
+#ifndef WIN32
+static const char preferred_separator = '/';
+#else // Windows
+static const char preferred_separator = '\\';
+#endif
+const std::string separator(const std::string &_p)
+{
+ return _p + preferred_separator;
+}
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L227
+std::string checkWindowsPath(const std::string _path)
+{
+ if (_path.empty())
+ return _path;
+
+ // Check if this is a http or https, if so change backslashes generated by
+ // jointPaths to '/'
+ if ((_path.size() > 7 && 0 == _path.compare(0, 7, "http://")) ||
+ (_path.size() > 8 && 0 == _path.compare(0, 8, "https://")))
+ {
+ return std::regex_replace(_path, std::regex(R"(\\)"), "/");
+ }
+
+ // This is a Windows path, convert all '/' into backslashes
+ std::string result = std::regex_replace(_path, std::regex(R"(/)"), "\\");
+ std::string drive_letters;
+
+ // only Windows contains absolute paths starting with drive letters
+ if (result.length() > 3 && 0 == result.compare(1, 2, ":\\"))
+ {
+ drive_letters = result.substr(0, 3);
+ result = result.substr(3);
+ }
+ result = drive_letters + std::regex_replace(
+ result, std::regex("[<>:\"|?*]"), "");
+ return result;
+}
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L256
+std::string joinPaths(const std::string &_path1,
+ const std::string &_path2)
+{
+
+ /// This function is used to avoid duplicated path separators at the
+ /// beginning/end of the string, and between the two paths being joined.
+ /// \param[in] _path This is the string to sanitize.
+ /// \param[in] _stripLeading True if the leading separator should be
+ /// removed.
+ auto sanitizeSlashes = [](const std::string &_path,
+ bool _stripLeading = false)
+ {
+ // Shortcut
+ if (_path.empty())
+ return _path;
+
+ std::string result = _path;
+
+ // Use the appropriate character for each platform.
+#ifndef _WIN32
+ char replacement = '/';
+#else
+ char replacement = '\\';
+#endif
+
+ // Sanitize the start of the path.
+ size_t index = 0;
+ size_t leadingIndex = _stripLeading ? 0 : 1;
+ for (; index < result.length() && result[index] == replacement; ++index)
+ {
+ }
+ if (index > leadingIndex)
+ result.erase(leadingIndex, index-leadingIndex);
+
+ // Sanitize the end of the path.
+ index = result.length()-1;
+ for (; index < result.length() && result[index] == replacement; --index)
+ {
+ }
+ index += 1;
+ if (index < result.length()-1)
+ result.erase(index+1);
+ return result;
+ };
+
+ std::string path;
+#ifndef _WIN32
+ path = sanitizeSlashes(sanitizeSlashes(separator(_path1)) +
+ sanitizeSlashes(_path2, true));
+#else // _WIN32
+ std::string path1 = sanitizeSlashes(checkWindowsPath(_path1));
+ std::string path2 = sanitizeSlashes(checkWindowsPath(_path2), true);
+ std::vector<char> combined(path1.length() + path2.length() + 2);
+ if (::PathCombineA(combined.data(), path1.c_str(), path2.c_str()) != NULL)
+ {
+ path = sanitizeSlashes(checkWindowsPath(std::string(combined.data())));
+ }
+ else
+ {
+ path = sanitizeSlashes(checkWindowsPath(separator(path1) + path2));
+ }
+#endif // _WIN32
+ return path;
+}
+
+
+std::string getEngineInstallDir()
+{
+ return gz::physics::joinPaths(
+ getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR);
+}
+
+}
+}
+}

test/integration/CMakeLists.txt

@@ -14,7 +14,9 @@ gz_build_tests(
  gz-plugin${GZ_PLUGIN_VER}::loader
  INCLUDE_DIRS
  ${PROJECT_SOURCE_DIR}/src
- TEST_LIST list)
+ TEST_LIST list
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 if (BUILD_TESTING)
  foreach(test ${list})

test/performance/CMakeLists.txt

@@ -12,4 +12,6 @@ gz_build_tests(
  SOURCES ${tests}
  INCLUDE_DIRS 
  ${PROJECT_SOURCE_DIR}/src
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )

test/regression/CMakeLists.txt

@@ -2,4 +2,6 @@ gz_get_sources(tests)
 
 gz_build_tests(
  TYPE REGRESSION
- SOURCES ${tests})
+ SOURCES ${tests}
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})

tpe/lib/CMakeLists.txt

@@ -25,4 +25,6 @@ gz_build_tests(
  ${PROJECT_LIBRARY_TARGET_NAME}-sdf
  ${PROJECT_LIBRARY_TARGET_NAME}-mesh
  ${tpelib_target}
- TEST_LIST tests)
+ TEST_LIST tests
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})

tpe/plugin/CMakeLists.txt

@@ -59,7 +59,9 @@ gz_build_tests(
  gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
  ${PROJECT_LIBRARY_TARGET_NAME}-sdf
  ${PROJECT_LIBRARY_TARGET_NAME}-mesh
- TEST_LIST tests)
+ TEST_LIST tests
+ ENVIRONMENT
+ GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 foreach(test ${tests})