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ahcordeahcorde
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Merge 9617797 into b7447df 
2 parents b7447df + 9617797 commit 5d05f55

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Lines changed: 604 additions & 15 deletions

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‎test/usd/upAxisY.usda‎

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def "shapes"
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{
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def PhysicsScene "physics"
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{
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vector3f physics:gravityDirection = (0, 0, -1)
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float physics:gravityMagnitude = 9.8
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}
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def Xform "ground_plane"
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{
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float3 xformOp:rotateXYZ = (0, 0, 0)

‎usd/include/sdf/usd/usd_parser/Parser.hh‎

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef SDF_USD_USD_PARSER_PARSER_HH
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#define SDF_USD_USD_PARSER_PARSER_HH
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#include <string>
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#include "sdf/config.hh"
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#include "sdf/usd/Export.hh"
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#include "sdf/usd/UsdError.hh"
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namespace sdf
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{
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// Inline bracket to help doxygen filtering.
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inline namespace SDF_VERSION_NAMESPACE {
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//
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namespace usd
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{
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/// \brief Parse a USD file and convert it to a SDF file
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/// \param[in] _inputFilenameUsd Path of the USD file to parse
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/// \param[in] _outputFilenameSdf Path where the SDF file will be located
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/// \return UsdErrors, which is a vector of UsdError objects. Each UsdError
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/// includes an error code and message. An empty vector indicates no error
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/// occurred when parsing the USD file to its SDF representation.
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UsdErrors IGNITION_SDFORMAT_USD_VISIBLE parseUSDFile(
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const std::string &_inputFilenameUsd,
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const std::string &_outputFilenameSdf);
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}
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}
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}
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#endif

‎usd/src/CMakeLists.txt‎

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@@ -10,9 +10,13 @@ set(sources
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sdf_parser/Sensor.cc
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sdf_parser/Visual.cc
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sdf_parser/World.cc
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usd_parser/Parser.cc
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usd_parser/USD2SDF.cc
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usd_parser/USDData.cc
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usd_parser/USDMaterial.cc
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usd_parser/USDPhysics.cc
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usd_parser/USDStage.cc
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usd_parser/USDWorld.cc
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)
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ign_add_component(usd SOURCES ${sources} GET_TARGET_NAME usd_target)
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sdf_parser/Visual_Sdf2Usd_TEST.cc
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sdf_parser/World_Sdf2Usd_TEST.cc
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usd_parser/USDData_TEST.cc
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usd_parser/USDPhysics_TEST.cc
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usd_parser/USDStage_TEST.cc
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Conversions_TEST.cc
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UsdError_TEST.cc

‎usd/src/cmd/usd2sdf.cc‎

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#include <ignition/utils/cli/CLI.hpp>
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#include "sdf/usd/usd_parser/Parser.hh"
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#include "sdf/config.hh"
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//////////////////////////////////////////////////
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std::string outputFilename{"output.sdf"};
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};
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void runCommand(const Options &/*_opt*/)
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void runCommand(const Options &_opt)
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{
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// TODO(ahcorde): Call here the USD to SDF converter code
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std::cerr << "USD to SDF conversion is not implemented yet.\n";
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const auto errors =
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sdf::usd::parseUSDFile(_opt.inputFilename, _opt.outputFilename);
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if (!errors.empty())
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{
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std::cerr << "Errors occurred when generating [" << _opt.outputFilename
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<< "] from [" << _opt.inputFilename << "]:\n";
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for (const auto &e : errors)
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std::cerr << "\t" << e << "\n";
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}
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}
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void addFlags(CLI::App &_app)

‎usd/src/usd_parser/Parser.cc‎

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "sdf/usd/usd_parser/Parser.hh"
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#include "USD2SDF.hh"
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#include "sdf/Root.hh"
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namespace sdf
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{
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inline namespace SDF_VERSION_NAMESPACE {
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namespace usd
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{
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UsdErrors parseUSDFile(
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const std::string &_inputFilenameUsd,
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const std::string &_outputFilenameSdf)
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{
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UsdErrors errors;
33+
USD2SDF usd2sdf;
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sdf::Root root;
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errors = usd2sdf.Read(_inputFilenameUsd, root);
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if (!errors.empty())
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{
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return errors;
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}
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std::ofstream out(_outputFilenameSdf.c_str(), std::ios::out);
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std::string string = root.ToElement()->ToString("");
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if (!out)
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{
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errors.emplace_back(UsdError(
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UsdErrorCode::SDF_TO_USD_PARSING_ERROR,
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"Unable to open file [" + _outputFilenameSdf + "] for writing"));
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return errors;
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}
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out << string;
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out.close();
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return errors;
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}
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}
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}
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}

‎usd/src/usd_parser/USD2SDF.cc‎

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
16+
*/
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#include "USD2SDF.hh"
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20+
#include "sdf/Console.hh"
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#include "sdf/Types.hh"
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#include "USDWorld.hh"
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24+
#include "sdf/Root.hh"
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#include "sdf/World.hh"
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27+
namespace sdf {
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inline namespace SDF_VERSION_NAMESPACE {
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namespace usd {
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////////////////////////////////////////////////
31+
UsdErrors USD2SDF::Read(const std::string &_fileName,
32+
sdf::Root &_root)
33+
{
34+
UsdErrors errors;
35+
36+
sdf::World sdfWorld;
37+
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const auto errorsParseUSD = parseUSDWorld(_fileName, sdfWorld);
39+
if (!errorsParseUSD.empty())
40+
{
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errors.emplace_back(UsdError(
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UsdErrorCode::SDF_TO_USD_PARSING_ERROR,
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"Error parsing usd file [" + _fileName + "]"));
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return errors;
45+
}
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auto addWorldErrors = _root.AddWorld(sdfWorld);
48+
if (!addWorldErrors.empty())
49+
{
50+
for (auto & error: addWorldErrors)
51+
{
52+
errors.emplace_back(error);
53+
}
54+
errors.emplace_back(UsdError(
55+
UsdErrorCode::SDF_ERROR,
56+
"Error adding the world [" + sdfWorld.Name() + "]"));
57+
return errors;
58+
}
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60+
return errors;
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}
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}
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}
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}

‎usd/src/usd_parser/USD2SDF.hh‎

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/*
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* Copyright 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
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*
8+
* http://www.apache.org/licenses/LICENSE-2.0
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*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*
16+
*/
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#ifndef USD_PARSER_USD2SDF_HH_
19+
#define USD_PARSER_USD2SDF_HH_
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#include <string>
22+
23+
#include "sdf/sdf_config.h"
24+
#include "sdf/usd/UsdError.hh"
25+
26+
#include "sdf/Root.hh"
27+
28+
namespace sdf
29+
{
30+
// Inline bracket to help doxygen filtering.
31+
inline namespace SDF_VERSION_NAMESPACE {
32+
namespace usd
33+
{
34+
/// \brief USD to SDF converter
35+
/// This class helps generate the SDF file
36+
class USD2SDF
37+
{
38+
/// \brief constructor
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public: USD2SDF() = default;
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/// \brief convert USD file to sdf xml document
42+
/// \param[in] _fileMame string containing USD filename.
43+
/// \param[out] _sdfXmlDoc Document to populate with the sdf model.
44+
/// \return UsdErrors, which is a list of UsdError objects. An empty list
45+
/// means no errors occurred when populating _sdfXmlOut with the contents
46+
/// of _fileName
47+
public: UsdErrors Read(
48+
const std::string &_fileName,
49+
sdf::Root &_root);
50+
};
51+
}
52+
}
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}
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55+
#endif

‎usd/src/usd_parser/USDPhysics.cc‎

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*
16+
*/
17+
18+
#include "USDPhysics.hh"
19+
20+
#pragma push_macro ("__DEPRECATED")
21+
#undef __DEPRECATED
22+
#include <pxr/base/gf/vec3d.h>
23+
#include <pxr/usd/usdPhysics/scene.h>
24+
#pragma pop_macro ("__DEPRECATED")
25+
26+
#include "sdf/World.hh"
27+
28+
namespace sdf
29+
{
30+
inline namespace SDF_VERSION_NAMESPACE {
31+
namespace usd
32+
{
33+
void ParseUSDPhysicsScene(
34+
const pxr::UsdPhysicsScene &_scene,
35+
sdf::World &_world,
36+
double _metersPerUnit)
37+
{
38+
ignition::math::Vector3d worldGravity{0, 0, -1};
39+
float magnitude {9.8f};
40+
const auto gravityAttr = _scene.GetGravityDirectionAttr();
41+
if (gravityAttr)
42+
{
43+
pxr::GfVec3f gravity;
44+
gravityAttr.Get(&gravity);
45+
if (!ignition::math::equal(0.0f, gravity[0]) &&
46+
!ignition::math::equal(0.0f, gravity[1]) &&
47+
!ignition::math::equal(0.0f, gravity[2]))
48+
{
49+
worldGravity[0] = gravity[0];
50+
worldGravity[1] = gravity[1];
51+
worldGravity[2] = gravity[2];
52+
}
53+
}
54+
55+
const auto magnitudeAttr = _scene.GetGravityMagnitudeAttr();
56+
if (magnitudeAttr)
57+
{
58+
magnitudeAttr.Get(&magnitude);
59+
if (!std::isnan(magnitude) && !std::isinf(magnitude))
60+
{
61+
magnitude = magnitude * _metersPerUnit;
62+
}
63+
}
64+
_world.SetGravity(worldGravity * magnitude);
65+
}
66+
}
67+
}
68+
}

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