Merge branch 'ign-physics3' into bulletDev/blast545/bulletPhysicsDome

README.md

@@ -9,9 +9,9 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics2/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics2-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics2-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics2-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics2-homebrew-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics3/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics3-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics3-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics3-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics3-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
 
 Ignition Physics, a component of [Ignition
@@ -72,7 +72,7 @@ See the [installation tutorial](https://ignitionrobotics.org/api/physics/3.0/ins
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/master/examples/).
+Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/ign-physics3/examples/).
 
 # Documentation
 

tutorials/02_installation.md

@@ -103,15 +103,15 @@ command-line tools:
 2. Run the following commands
   ```
   brew tap osrf/simulation
-  brew install ignition-physics2
+  brew install ignition-physics3
   ```
 
 ## Source Installation
 
 1. Install dependencies
   ```
   brew tap osrf/simulation
-  brew install ignition-physics2 --only-dependencies
+  brew install ignition-physics3 --only-dependencies
   ```
 
 2. Clone the repository
@@ -208,7 +208,7 @@ You can also generate the documentation from a clone of this repository by follo
 
 2. Clone the repository
   ```
-  git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics2
+  git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics3
   ```
 
 3. Configure and build the documentation.

tutorials/03_physics_plugins.md

@@ -76,13 +76,13 @@ Users do not need to organize their own plugin implementations this way.
 <!-- ### Bullet -->
 
 Dart ([Dynamic Animation and Robotics Toolkit](https://dartsim.github.io/)) is an open source library that provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.
-It is the default physics engine used in Ignition.
-The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/master) under `dartsim` directory.
+It is the default physics engine used in Ignition Simulation.
+The source code for Dartsim plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3) under `dartsim` directory.
 
-TPE ([Trivial Physics Engine](https://github.com/ignitionrobotics/ign-physics/tree/master/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
+TPE ([Trivial Physics Engine](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
 It supports higher-order fleet dynamics without real physics (eg. gravity, force, constraint etc.) and multi-machine synchronization.
 Ignition support for TPE targets [Citadel](https://ignitionrobotics.org/docs/citadel) and onward releases.
-The source code for TPE plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2) under `tpe/plugin` directory
+The source code for TPE plugin can be found in [Ignition Physics repository](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3) under the `tpe/plugin` directory.
 
 The following is a list of features supported by each physics engine to help users select one that fits their needs.
 

tutorials/06-physics-simulation-concepts.md

@@ -68,7 +68,7 @@ This command tells the car to move in its coordinate frame with velocity
 second in Z-axis.
 
 Note that the mechanism to move the car is different depending on the used physics
-engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim),
+engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/dartsim),
 the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/diff_drive/DiffDrive.cc#L333) code.
 Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/tpe),
 TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/velocity_control/VelocityControl.cc#L117) code.

tutorials/08-implementing-a-custom-feature.md

@@ -11,7 +11,7 @@ In the last \ref createphysicsplugin "Implement a physics plugin" tutorial, we
 know how to implement a dummy physics engine as a plugin and load it using
 \ref ignition::physics "Ignition Physics API". In this tutorial, we will look
 deeper into the structure of a physics engine plugin, for example, the available
-[DART](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics2/dartsim)
+[DART](https://github.com/ignitionrobotics/ign-physics/tree/ign-physics3/dartsim)
 physics engine in `ign-physics` repository and how to define a custom
 \ref ignition::physics::Feature "Feature" for the plugin.
 

tutorials/09-set-up-physics-engine-tpe.md

@@ -3,7 +3,7 @@
 ## Prerequisites
 
 In the previous tutorial \ref installation "Installation", you have installed
-the Ignition Physics corresponding to the desired Ignition release. 
+the Ignition Physics corresponding to the desired Ignition release.
 
 ## How to adapt a physics engine as a plugin in Ignition Physics
 
@@ -12,7 +12,7 @@ know how to implement a dummy physics engine as a plugin and load it using
 \ref ignition::physics "Ignition Physics API". In
 \ref createcustomfeature "Implement a custom feature" tutorial, we know how to
 define and implement a custom feature in an existing
-[DART](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim) physics
+[DART](https://github.com/ignitionrobotics/ign-physics/tree/main/dartsim) physics
 plugin. This tutorial will explain step-by-step how to use any physics engine
 with Ignition Physics. We will use [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe)
 as an example for this tutorial.
@@ -27,10 +27,10 @@ is commented in detail:
 ```
 tpe
 ├── lib                              Main physics engine implementation.
-│    ├── src                         
+│    ├── src
 │    ├── CMakeLists.txt              CMake build script for physics engine implementation.
 ├── plugin                           Main implementation of the plugin features interfacing the physics engines API
-│    ├── src                         
+│    ├── src
 │    |     ├── plugin.cc             Main file for the plugin declaration and plugin registering.
 │    |     ├── <FEATURES>.hh         The FeatureList header file.
 │    |     ├── <FEATURES>.cc         Implementation of the FeatureList, which adapts to functions implemented in lib used in the FeatureList.
@@ -137,10 +137,10 @@ Now the folder structure looks like this:
 tpe
 ├── lib
 ├── plugin
-│    ├── src                         
+│    ├── src
 │    |     ├── plugin.cc
 │    |     ├── Base.hh
-│    |     ├── EntityManagementFeatures.hh     
+│    |     ├── EntityManagementFeatures.hh
 │    |     ├── EntityManagementFeatures.cc
 │    |     ├── EntityManagement_TEST.cc
 │    ├── CMakeLists.txt