SDF to USD (main)

[adlarkin]

Signed-off-by: Ashton Larkin [email protected]

🎉 New feature

Summary

This builds on top of #736 to add the functionality for converting SDF to USD (this is similar to #762, but #762 is a standalone PR that targets sdf12 instead of building on #736 - I've been having linking issues with the build, so I am trying to see if building on top of #763 will help solve these issues or not).

This PR uses #736 BEFORE CGAL was added, because #736 uses CGAL version 5, which requires ubuntu focal if you want to use the binaries (ubuntu bionic uses CGAL 4). So, to make this PR compatible with bionic and focal, it builds off of the last commit in #736 before CGAL was added: 163637a.

Test it

Like #762, there are linking errors with the tests at the moment, so you can build without tests (use -DBUILD_TESTING=OFF when invoking cmake). I also see a build error which seems to be related to #736:

[ 98%] Building CXX object src/cmd/CMakeFiles/sdfconverter.dir/sdfconverter.cpp.o
/usd_sdf/src/sdformat/src/cmd/sdfconverter.cpp:20:10: fatal error: ignition/utils/cli/CLI.hpp: No such file or directory
 #include <ignition/utils/cli/CLI.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

There's also linking errors for the usdConverter executable:

[100%] Linking CXX executable usdConverter
CMakeFiles/usdConverter.dir/usdConverter.cc.o: In function `main':
/usd_sdf/src/sdformat/src/cmd/usdConverter.cc:61: undefined reference to `usd::ParseSdfWorld(sdf::v13::World const&, pxrInternal_v0_21__pxrReserved__::TfRefPtr<pxrInternal_v0_21__pxrReserved__::UsdStage>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../libsdformat13.so.13.0.0~pre1: undefined reference to `usd::ParseSdfModel(sdf::v13::Model const&, pxrInternal_v0_21__pxrReserved__::TfRefPtr<pxrInternal_v0_21__pxrReserved__::UsdStage>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../libsdformat13.so.13.0.0~pre1: undefined reference to `usd::ParseSdfVisual(sdf::v13::Visual const&, pxrInternal_v0_21__pxrReserved__::TfRefPtr<pxrInternal_v0_21__pxrReserved__::UsdStage>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../libsdformat13.so.13.0.0~pre1: undefined reference to `usd::ParseSdfGeometry(sdf::v13::Geometry const&, pxrInternal_v0_21__pxrReserved__::TfRefPtr<pxrInternal_v0_21__pxrReserved__::UsdStage>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../libsdformat13.so.13.0.0~pre1: undefined reference to `usd::ParseSdfLink(sdf::v13::Link const&, pxrInternal_v0_21__pxrReserved__::TfRefPtr<pxrInternal_v0_21__pxrReserved__::UsdStage>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
collect2: error: ld returned 1 exit status
src/cmd/CMakeFiles/usdConverter.dir/build.make:160: recipe for target 'src/cmd/usdConverter' failed
make[2]: *** [src/cmd/usdConverter] Error 1
CMakeFiles/Makefile2:402: recipe for target 'src/cmd/CMakeFiles/usdConverter.dir/all' failed
make[1]: *** [src/cmd/CMakeFiles/usdConverter.dir/all] Error 2
Makefile:165: recipe for target 'all' failed
make: *** [all] Error 2

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[adlarkin]

I'm closing this in favor of #762