USD -> SDF: Parse Physics and generated SDF file

usd/src/cmd/usd2sdf.cc

@@ -15,6 +15,7 @@
  *
  */
 
+#include <iostream>
 #include <string>
 
 #include <ignition/utils/cli/CLI.hpp>

usd/src/usd_parser/Parser.cc

@@ -18,6 +18,8 @@
 #include "sdf/usd/usd_parser/Parser.hh"
 #include "USD2SDF.hh"
 
+#include "sdf/Root.hh"
+
 namespace sdf
 {
 inline namespace SDF_VERSION_NAMESPACE {
@@ -29,14 +31,24 @@ namespace usd
  {
  UsdErrors errors;
  USD2SDF usd2sdf;
- auto doc = tinyxml2::XMLDocument(true, tinyxml2::COLLAPSE_WHITESPACE);
- auto readErrors = usd2sdf.Read(_inputFilenameUsd, &doc);
- if (!readErrors.empty())
+ sdf::Root root;
+ errors = usd2sdf.Read(_inputFilenameUsd, root);
+ if (!errors.empty())
+ {
+ return errors;
+ }
+
+ std::ofstream out(_outputFilenameSdf.c_str(), std::ios::out);
+ std::string string = root.ToElement()->ToString("");
+ if (!out)
  {
- errors.insert(errors.end(), readErrors.begin(), readErrors.end());
+ errors.emplace_back(UsdError(
+ UsdErrorCode::SDF_TO_USD_PARSING_ERROR,
+ "Unable to open file [" + _outputFilenameSdf + "] for writing"));
  return errors;
  }
- doc.SaveFile(_outputFilenameSdf.c_str());
+ out << string;
+ out.close();
  return errors;
  }
 }

usd/src/usd_parser/USD2SDF.cc

@@ -19,32 +19,23 @@
 
 #include "sdf/Console.hh"
 #include "sdf/Types.hh"
-#include "usd_model/WorldInterface.hh"
 #include "USDWorld.hh"
 
+#include "sdf/Root.hh"
+#include "sdf/World.hh"
+
 namespace sdf {
 inline namespace SDF_VERSION_NAMESPACE {
 namespace usd {
-/////////////////////////////////////////////////
-USD2SDF::USD2SDF()
-{
-}
-
-/////////////////////////////////////////////////
-USD2SDF::~USD2SDF()
-{
-}
-
-/////////////////////////////////////////////////
+////////////////////////////////////////////////
 UsdErrors USD2SDF::Read(const std::string &_fileName,
- tinyxml2::XMLDocument *_sdfXmlOut)
+ sdf::Root &_root)
 {
  UsdErrors errors;
 
- std::shared_ptr<WorldInterface> worldInterface =
- std::make_shared<WorldInterface>();
+ sdf::World sdfWorld;
 
- const auto errorsParseUSD = parseUSDWorld(_fileName, worldInterface);
+ const auto errorsParseUSD = parseUSDWorld(_fileName, sdfWorld);
  if (!errorsParseUSD.empty())
  {
  errors.emplace_back(UsdError(
@@ -53,91 +44,20 @@ UsdErrors USD2SDF::Read(const std::string &_fileName,
  return errors;
  }
 
- tinyxml2::XMLElement *sdf = nullptr;
- sdf = _sdfXmlOut->NewElement("sdf");
- sdf->SetAttribute("version", "1.7");
-
- tinyxml2::XMLElement *world = nullptr;
- world = _sdfXmlOut->NewElement("world");
- std::string worldName = worldInterface->worldName;
- if (worldName.empty())
- {
- worldName = "world_name";
- }
- world->SetAttribute("name", (worldName + "_world").c_str());
-
- this->AddKeyValue(world, "gravity", Vector32Str(
- worldInterface->gravity * worldInterface->magnitude));
-
- sdf->LinkEndChild(world);
- _sdfXmlOut->LinkEndChild(sdf);
- return errors;
-}
-
-/////////////////////////////////////////////////
-std::string USD2SDF::GetKeyValueAsString(
- const tinyxml2::XMLElement *_elem) const
-{
- std::string valueStr;
- if (_elem->Attribute("value"))
- {
- valueStr = _elem->Attribute("value");
- }
- else if (_elem->FirstChild())
+ auto addWorldErrors = _root.AddWorld(sdfWorld);
+ if (!addWorldErrors.empty())
  {
- // Check that this node is a XMLText
- if (_elem->FirstChild()->ToText())
+ for (auto & error: addWorldErrors)
  {
- valueStr = _elem->FirstChild()->Value();
+ errors.emplace_back(error);
  }
- else
- {
- sdfwarn << "Attribute value string not set\n";
- }
- }
- return trim(valueStr);
-}
-
-/////////////////////////////////////////////////
-void USD2SDF::AddKeyValue(
- tinyxml2::XMLElement *_elem,
- const std::string &_key,
- const std::string &_value)
-{
- tinyxml2::XMLElement *childElem = _elem->FirstChildElement(_key.c_str());
- if (childElem)
- {
- std::string oldValue = this->GetKeyValueAsString(childElem);
- if (oldValue != _value)
- {
- sdferr << "multiple inconsistent <" << _key
- << "> exists due to fixed joint reduction"
- << " overwriting previous value [" << oldValue
- << "] with [" << _value << "].\n";
- }
- else
- {
- sdferr << "multiple consistent <" << _key
- << "> exists with [" << _value
- << "] due to fixed joint reduction.\n";
- }
- // remove old _elem
- _elem->DeleteChild(childElem);
+ errors.emplace_back(UsdError(
+ UsdErrorCode::SDF_ERROR,
+ "Error adding the world [" + sdfWorld.Name() + "]"));
+ return errors;
  }
 
- auto *doc = _elem->GetDocument();
- tinyxml2::XMLElement *ekey = doc->NewElement(_key.c_str());
- tinyxml2::XMLText *textEkey = doc->NewText(_value.c_str());
- ekey->LinkEndChild(textEkey);
- _elem->LinkEndChild(ekey);
-}
-
-/////////////////////////////////////////////////
-std::string USD2SDF::Vector32Str(const ignition::math::Vector3d &_vector) const
-{
- std::stringstream ss;
- ss << _vector;
- return ss.str();
+ return errors;
 }
 }
 }

usd/src/usd_parser/USD2SDF.hh

@@ -20,12 +20,11 @@
 
 #include <string>
 
-#include <ignition/math/Vector3.hh>
-#include <tinyxml2.h>
-
 #include "sdf/sdf_config.h"
 #include "sdf/usd/UsdError.hh"
 
+#include "sdf/Root.hh"
+
 namespace sdf
 {
 // Inline bracket to help doxygen filtering.
@@ -37,10 +36,7 @@ inline namespace SDF_VERSION_NAMESPACE {
  class USD2SDF
  {
  /// \brief constructor
- public: USD2SDF();
-
- /// \brief destructor
- public: ~USD2SDF();
+ public: USD2SDF() = default;
 
  /// \brief convert USD file to sdf xml document
  /// \param[in] _fileMame string containing USD filename.
@@ -50,28 +46,7 @@ inline namespace SDF_VERSION_NAMESPACE {
  /// of _fileName
  public: UsdErrors Read(
  const std::string &_fileName,
- tinyxml2::XMLDocument *_sdfXmlOut);
-
- /// \brief get value from <key value="..."/> pair and return it as string
- /// \param[in] _elem pointer to xml element
- /// return a string with the key
- private: std::string GetKeyValueAsString(
- const tinyxml2::XMLElement *_elem) const;
-
- /// \brief append key value pair to the end of the xml element
- /// \param[in] _elem pointer to xml element
- /// \param[in] _key string containing key to add to xml element
- /// \param[in] _value string containing value for the key added
- private: void AddKeyValue(
- tinyxml2::XMLElement *_elem,
- const std::string &_key,
- const std::string &_value);
-
- /// \brief convert Vector3 to string
- /// \param[in] _vector a ignition::math::Vector3d
- /// \return string representation of Vector3
- private: std::string Vector32Str(
- const ignition::math::Vector3d &_vector) const;
+ sdf::Root &_root);
  };
  }
 }

usd/src/usd_parser/USDPhysics.cc

@@ -23,39 +23,45 @@
 #include <pxr/usd/usdPhysics/scene.h>
 #pragma pop_macro ("__DEPRECATED")
 
+#include "sdf/World.hh"
+
 namespace sdf
 {
 inline namespace SDF_VERSION_NAMESPACE {
 namespace usd
 {
  void ParseUSDPhysicsScene(
  const pxr::UsdPhysicsScene &_scene,
- std::shared_ptr<WorldInterface> &_world,
+ sdf::World &_world,
  double _metersPerUnit)
  {
- if (const auto gravityAttr = _scene.GetGravityDirectionAttr())
+ ignition::math::Vector3d worldGravity{0, 0, -1};
+ float magnitude {9.8f};
+ const auto gravityAttr = _scene.GetGravityDirectionAttr();
+ if (gravityAttr)
  {
  pxr::GfVec3f gravity;
  gravityAttr.Get(&gravity);
  if (!ignition::math::equal(0.0f, gravity[0]) &&
  !ignition::math::equal(0.0f, gravity[1]) &&
  !ignition::math::equal(0.0f, gravity[2]))
  {
- _world->gravity[0] = gravity[0];
- _world->gravity[1] = gravity[1];
- _world->gravity[2] = gravity[2];
+ worldGravity[0] = gravity[0];
+ worldGravity[1] = gravity[1];
+ worldGravity[2] = gravity[2];
  }
  }
 
- if (const auto magnitudeAttr = _scene.GetGravityMagnitudeAttr())
+ const auto magnitudeAttr = _scene.GetGravityMagnitudeAttr();
+ if (magnitudeAttr)
  {
- float magnitude;
  magnitudeAttr.Get(&magnitude);
  if (!std::isnan(magnitude) && !std::isinf(magnitude))
  {
- _world->magnitude = magnitude * _metersPerUnit;
+ magnitude = magnitude * _metersPerUnit;
  }
  }
+ _world.SetGravity(worldGravity * magnitude);
  }
 }
 }

usd/src/usd_parser/USDPhysics.hh

@@ -18,8 +18,6 @@
 #ifndef USD_PARSER_PHYSYCS_HH
 #define USD_PARSER_PHYSYCS_HH
 
-#include "usd_model/WorldInterface.hh"
-
 #pragma push_macro ("__DEPRECATED")
 #undef __DEPRECATED
 #include <pxr/usd/usdPhysics/scene.h>
@@ -28,6 +26,7 @@
 #include "sdf/config.hh"
 #include "sdf/usd/Export.hh"
 
+#include "sdf/World.hh"
 namespace sdf
 {
  // Inline bracket to help doxygen filtering.
@@ -41,7 +40,7 @@ namespace sdf
  /// \param[in] _metersPerUnit meters per unit in the USD
  void IGNITION_SDFORMAT_USD_VISIBLE ParseUSDPhysicsScene(
  const pxr::UsdPhysicsScene &_scene,
- std::shared_ptr<WorldInterface> &_world,
+ sdf::World &_world,
  double _metersPerUnit);
  }
  }

usd/src/usd_parser/USDPhysics_TEST.cc

@@ -33,7 +33,6 @@
 #include "test_utils.hh"
 
 #include "USDPhysics.hh"
-#include "usd_model/WorldInterface.hh"
 
 /////////////////////////////////////////////////
 TEST(USDPhysicsTest, AvailablePhysics)
@@ -46,15 +45,13 @@ TEST(USDPhysicsTest, AvailablePhysics)
  pxr::UsdPhysicsScene(stage->GetPrimAtPath(pxr::SdfPath("/shapes/physics")));
  EXPECT_TRUE(physicsScene);
 
- std::shared_ptr<sdf::usd::WorldInterface> worldInterface =
- std::make_shared<sdf::usd::WorldInterface>();
+ sdf::World world;
 
  const double metersPerUnit = 1.0;
 
  sdf::usd::ParseUSDPhysicsScene(
- physicsScene, worldInterface, metersPerUnit);
- EXPECT_EQ(ignition::math::Vector3d(0, 0, -1), worldInterface->gravity);
- EXPECT_FLOAT_EQ(9.8f, worldInterface->magnitude);
+ physicsScene, world, metersPerUnit);
+ EXPECT_EQ(ignition::math::Vector3d(0, 0, -9.8), world.Gravity());
 }
 
 /////////////////////////////////////////////////
@@ -68,13 +65,11 @@ TEST(USDPhysicsTest, UnavailablePhysics)
  pxr::UsdPhysicsScene(stage->GetPrimAtPath(pxr::SdfPath("/shapes/physics")));
  EXPECT_FALSE(physicsScene);
 
- std::shared_ptr<sdf::usd::WorldInterface> worldInterface =
- std::make_shared<sdf::usd::WorldInterface>();
+ sdf::World world;
 
  const double metersPerUnit = 1.0;
 
  sdf::usd::ParseUSDPhysicsScene(
- physicsScene, worldInterface, metersPerUnit);
- EXPECT_EQ(ignition::math::Vector3d(0, 0, -1), worldInterface->gravity);
- EXPECT_FLOAT_EQ(9.8f, worldInterface->magnitude);
+ physicsScene, world, metersPerUnit);
+ EXPECT_EQ(ignition::math::Vector3d(0, 0, -9.8), world.Gravity());
 }

usd/src/usd_parser/USDStage_TEST.cc

@@ -51,7 +51,7 @@ TEST(USDStage, Constructor)
 
  EXPECT_EQ("Y", stage.UpAxis());
  EXPECT_DOUBLE_EQ(1.0, stage.MetersPerUnit());
- EXPECT_EQ(10u, stage.USDPaths().size());
+ EXPECT_EQ(9u, stage.USDPaths().size());
  }
 
  // Wrong upaxis