USD to SDF: Added visuals (#897)

Signed-off-by: Alejandro Hernández <[email protected]> Co-authored-by: Ashton Larkin <[email protected]>
gazebosim · Apr 11, 2022 · a0b022d · a0b022d
1 parent 256fc6b
commit a0b022d
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Showing 11 changed files with 788 additions and 32 deletions.
diff --git a/test/usd/upAxisZ.usda b/test/usd/upAxisZ.usda
@@ -54,7 +54,15 @@ def Xform "ground_plane"
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
 
-            def Cube "geometry" (
+            def Cube "geometry"
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                rel material:binding = </Looks/Material_0>
+                double size = 1
+                float3 xformOp:scale = (100, 100, 0.25)
+                uniform token[] xformOpOrder = ["xformOp:scale"]
+            }
+            def Cube "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {
@@ -85,15 +93,24 @@ def Xform "box" (
         float physics:mass = 1
         float3 xformOp:rotateXYZ = (0, 0, 0)
         double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+        float3 xformOp:scale = (1, 0.1, 1)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
 
         def Xform "box_visual"
         {
             float3 xformOp:rotateXYZ = (0, 0, 0)
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
 
-            def Cube "geometry" (
+            def Cube "geometry"
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                rel material:binding = </Looks/Material_1>
+                double size = 1
+                float3 xformOp:scale = (1, 0.1, 0.2)
+                uniform token[] xformOpOrder = ["xformOp:scale"]
+            }
+            def Cube "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {
@@ -130,7 +147,14 @@ def Xform "cylinder"
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
 
-            def Cylinder "geometry" (
+            def Cylinder "geometry"
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                double height = 1
+                rel material:binding = </Looks/Material_2>
+                double radius = 0.5
+            }
+            def Cylinder "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {
@@ -166,7 +190,13 @@ def Xform "sphere"
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
 
-            def Sphere "geometry" (
+            def Sphere "geometry"
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                rel material:binding = </Looks/Material_3>
+                double radius = 0.5
+            }
+            def Sphere "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {
@@ -201,7 +231,14 @@ def Xform "capsule"
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
 
-            def Capsule "geometry" (
+            def Capsule "geometry"
+            {
+                float3[] extent = [(-0.2, -0.2, -0.5), (0.2, 0.2, 0.5)]
+                double height = 0.6
+                rel material:binding = </Looks/Material_4>
+                double radius = 0.2
+            }
+            def Capsule "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {
@@ -237,7 +274,15 @@ def Xform "ellipsoid"
             double3 xformOp:translate = (0, 0, 0)
             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
 
-            def Sphere "geometry" (
+            def Sphere "geometry"
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                rel material:binding = </Looks/Material_5>
+                double radius = 0.5
+                float3 xformOp:scale = (0.4, 0.6, 1)
+                uniform token[] xformOpOrder = ["xformOp:scale"]
+            }
+            def Sphere "collision" (
                 prepend apiSchemas = ["PhysicsCollisionAPI"]
             )
             {

diff --git a/usd/include/sdf/usd/UsdError.hh b/usd/include/sdf/usd/UsdError.hh
@@ -84,6 +84,9 @@ namespace sdf
 
     /// \brief Parsing of USD object to a SDF object failed.
     USD_TO_SDF_PARSING_ERROR,
+
+    /// \brief Parsing of USD polygin object to a SDF object failed.
+    USD_TO_SDF_POLYGON_PARSING_ERROR,
   };
 
   class IGNITION_SDFORMAT_USD_VISIBLE UsdError

diff --git a/usd/src/CMakeLists.txt b/usd/src/CMakeLists.txt
@@ -12,6 +12,7 @@ set(sources
   sdf_parser/Visual.cc
   sdf_parser/World.cc
   usd_parser/Parser.cc
+  usd_parser/polygon_helper.cc
   usd_parser/USD2SDF.cc
   usd_parser/USDData.cc
   usd_parser/USDLights.cc
@@ -69,7 +70,9 @@ ign_build_tests(
 
 if (TARGET UNIT_USDLinks_TEST)
   target_sources(UNIT_USDLinks_TEST PRIVATE
-  usd_parser/USDLinks.cc)
+    usd_parser/USDLinks.cc
+    Conversions.cc
+    usd_parser/polygon_helper.cc)
 endif()
 
 if (TARGET UNIT_USDPhysics_TEST)