Add Windows installation

tutorials/02_installation.md

@@ -1,63 +1,89 @@
 \page installation Installation
 
-This tutorial describes how to install Ignition Physics on Ubuntu Linux and macOS via either a binary distribution or from source. Support for Windows is coming soon.
+These instructions are for installing only Ignition Physics.
+If you're interested in using all the Ignition libraries, check out this [Ignition installation](https://ignitionrobotics.org/docs/latest/install).
 
-## Ubuntu
+We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
+
+The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
+
+# 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:
-```{.sh}
+```
 sudo apt-get update
 sudo apt-get install lsb-release
 ```
 
 Setup your computer to accept software from
 [packages.osrfoundation.org](http://packages.osrfoundation.org):
-
-```{.sh}
+```
 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:
-
-```{.sh}
-wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 ```
-
-**Install Ignition Physics binaries**
-
-```{.sh}
-sudo apt-get update
-sudo apt-get install libignition-physics2-dev
+wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 ```
 
-**Build from source**
+## Binary Installation
 
-Run the following to install dependencies
-```{.sh}
-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-physics2
+On Ubuntu systems, `apt-get` can be used to install `ignition-plugin`:
 ```
-
-Clone the ign-physics repository from GitHub
-```{.sh}
-git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics2
-```
-
-Then build using CMake
-```{.sh}
-cd ign-physics
-mkdir build
-cd build
-cmake ..
-make
-sudo make install
+sudo apt-get update
+sudo apt-get install libignition-physics<#>-dev
 ```
 
-## macOS
+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](http://brew.sh/) using the [osrf/simulation
@@ -66,41 +92,105 @@ 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.
 
-**Install Binaries using Homebrew**
+## Binary Installation
 
-Install homebrew, which should also prompt you to install the XCode
+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)"
+  ```
 
-```{.sh}
-ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
-```
+2. Run the following commands
+  ```
+  brew tap osrf/simulation
+  brew install ignition-physics2
+  ```
 
-Run the following commands:
+## Source Installation
 
-```{.sh}
-brew tap osrf/simulation
-brew install ignition-physics2
-```
+1. Install dependencies
+  ```
+  brew tap osrf/simulation
+  brew install ignition-physics2 --only-dependencies
+  ```
 
-**Build from source using Homebrew**
+2. Clone the repository
+  ```
+  git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics<#>
+  ```
 
-Run the following to install dependencies
-```{.sh}
-brew tap osrf/simulation
-brew install ignition-physics2 --only-dependencies
-```
+3. Configure and build
+  ```
+  cd ign-physics
+  mkdir build
+  cd build
+  cmake ..
+  make
+  ```
 
-Clone the ign-physics repository from GitHub
-```{.sh}
-git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics2
+4. Optionally, install
+  ```
+  sudo make install
+  ```
+
+# Windows
+
+Currently, on Windows, DART is not supported, pending resolution of [dartsim/dart#1522](https://github.com/dartsim/dart/issues/1522) and [conda-forge/dartsim-feedstock#2](https://github.com/conda-forge/dartsim-feedstock/issues/2).
+Only [Trivial Physics Engine (TPE)](https://community.gazebosim.org/t/announcing-new-physics-engine-tpe-trivial-physics-engine/629) is supported at the moment.
+
+## Prerequisites
+
+First, follow the [ign-cmake](https://github.com/ignitionrobotics/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
 ```
 
-Then build using CMake
-```{.sh}
-cd ign-physics
-mkdir build
-cd build
-cmake ..
-make
-sudo make install
+## 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
+  ```