From f993aab094030245eec19afb46b855b3630f6a55 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Thu, 5 Dec 2024 21:23:46 +0100
Subject: [PATCH] Remove deprecations: tock
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 CMakeLists.txt                  |  3 ---
 Migration.md                    |  7 +++++++
 dartsim/src/SDFFeatures_TEST.cc | 11 -----------
 include/gz/physics/config.hh.in |  2 --
 4 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f30707399..51d0f4906 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,9 +97,6 @@ message(STATUS "-------------------------------------------\n")
 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_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}
-)
 
 #============================================================================
 # Configure the build
diff --git a/Migration.md b/Migration.md
index bbf3b5979..ac3aaab99 100644
--- a/Migration.md
+++ b/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
+
+### Removals
+
+* The environment variable `GZ_PHYSICS_ENGINE_INSTALL_DIR` is removed. Use
+`gz::physics::getEngineInstallDir()` instead.
+
 ## Gazebo Physics 5.X to 6.X
 
 ### Deprecations
diff --git a/dartsim/src/SDFFeatures_TEST.cc b/dartsim/src/SDFFeatures_TEST.cc
index 613bb8144..c88c1c56c 100644
--- a/dartsim/src/SDFFeatures_TEST.cc
+++ b/dartsim/src/SDFFeatures_TEST.cc
@@ -361,17 +361,6 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
          std::numeric_limits<double>::infinity(),
          std::numeric_limits<double>::infinity());
 
-  /// \todo (anyone) getBodyNode("blah")->getFrictionCoeff is deprecated,
-  /// disabling these tests.
-  /*
-  EXPECT_DOUBLE_EQ(1.1, skeleton->getBodyNode("base")->getFrictionCoeff());
-  // The last collision element overwrites the value set by previous collision
-  // elements. We expect mu=1, the default value, instead of 0.1.
-  EXPECT_DOUBLE_EQ(1, skeleton->getBodyNode("upper_link")->getFrictionCoeff());
-  // Gets the default value when the <surface> tag is missing
-  EXPECT_DOUBLE_EQ(1, skeleton->getBodyNode("lower_link")->getFrictionCoeff());
-  */
-
   for (const auto * joint : {skeleton->getJoint(1), skeleton->getJoint(2)})
   {
     const auto * revolute =
diff --git a/include/gz/physics/config.hh.in b/include/gz/physics/config.hh.in
index 332fb10e4..b8c590a3c 100644
--- a/include/gz/physics/config.hh.in
+++ b/include/gz/physics/config.hh.in
@@ -29,8 +29,6 @@
 #define GZ_PHYSICS_VERSION_FULL "${PROJECT_VERSION_FULL}"
 #define GZ_PHYSICS_VERSION_NAMESPACE v${PROJECT_VERSION_MAJOR}
 
-#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"
 
 #endif