Installation

These instructions are for installing only Ignition Physics. If you're interested in using all the Ignition libraries, check out this Ignition installation.

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

The Source Installation instructions are generally recommended for developers who want access to the latest features, develop your own feature or make a contribution to our codebase.

Ubuntu

Prerequisites

Ignition Physics uses several C++17 features which are not available in the version of gcc supplied with Ubuntu Xenial, so Ubuntu Bionic or later is required.

If you don't already have the lsb-release package installed, please do so now:

sudo apt-get update
sudo apt-get install lsb-release

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Binary Installation

On Ubuntu systems, apt-get can be used to install ignition-plugin:

sudo apt-get update
sudo apt-get install libignition-physics<#>-dev

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Installation

1. 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 ignition-physics<#>-dev

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.
2. Use gcc-8

   sudo apt update
   sudo apt-get -y install g++-8
   sudo update-alternatives --install \
     /usr/bin/gcc gcc /usr/bin/gcc-8 800 \
     --slave /usr/bin/g++ g++ /usr/bin/g++-8 \
     --slave /usr/bin/gcov gcov /usr/bin/gcov-8

3. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#>

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.
4. Configure and build

   cd ign-physics
   mkdir build
   cd build
   cmake ..
   make

5. Optionally, install

   sudo make install

macOS

Prerequisites

Ignition Physics and several of its dependencies can be installed on macOS with Homebrew using the osrf/simulation tap. Ignition Physics uses several C++17 features which are not available in macOS High Sierra (10.13) and earlier, so macOS Mojave (10.14) with XCode 10.1 are the minimum 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)"

2. Run the following commands

   brew tap osrf/simulation
   brew install ignition-physics<#>

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Installation

1. Install dependencies

   brew tap osrf/simulation
   brew install ignition-physics<#> --only-dependencies

2. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#>

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.
3. Configure and build

   cd ign-physics
   mkdir build
   cd build
   cmake ..
   make

4. Optionally, install

   sudo make install

Windows

Currently, on Windows, DART is not supported, pending resolution of dartsim/dart#1522 and conda-forge/dartsim-feedstock#2. Only Trivial Physics Engine (TPE) is supported at the moment.

Prerequisites

First, follow the ign-cmake tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.

Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda).

Create if necessary, and activate a Conda environment:

conda create -n ign-ws
conda activate ign-ws

Binary Installation

conda install libignition-physics<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Installation

This assumes you have created and activated a Conda environment while installing the Prerequisites.

1. Install Ignition dependencies:

   You can view available versions and their dependencies:

   conda search libignition-physics* --channel conda-forge --info

   Install dependencies, replacing <#> with the desired versions:

   conda install libignition-cmake<#> libignition-common<#> libignition-math<#> libignition-plugin<#> libsdformat<#> --channel conda-forge

2. Navigate to where you would like to build the library, and clone the repository.

   # Optionally, append `-b ign-physics#` (replace # with a number) to check out a specific version
   git clone https://github.com/ignitionrobotics/ign-physics.git

3. Configure and build

   cd ign-physics
   mkdir build
   cd build
   cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
   cmake --build . --config Release

4. Optionally, install

   cmake --install . --config Release

Documentation

API and tutorials can be found at https://ignitionrobotics.org/libs/physics.

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

   sudo apt-get install doxygen

2. Clone the repository

   git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#>

3. Configure and build the documentation.

   cd ign-physics
   mkdir build
   cd build
   cmake ..
   make doc

4. View the documentation by running the following command from the build directory.

   firefox doxygen/html/index.html

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

1. Follow the source install instruction.
2. Run tests.

   make test

3. Static code checker.

   make codecheck