Merge branch 'sdf12' into ahcorde/usd_to_sdf_initial_commit

test/sdf/ellipsoid.sdf

@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+<sdf version="1.8">
+  <world name="ellipsoid_world">
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>10 10</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>10 10</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <model name="ellipsoid">
+      <pose>0 3.0 0.5 0 0 0</pose>
+      <link name="ellipsoid_link">
+        <inertial>
+          <inertia>
+            <ixx>0.068</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.058</iyy>
+            <iyz>0</iyz>
+            <izz>0.026</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="ellipsoid_collision">
+          <geometry>
+            <ellipsoid>
+              <radii>0.2 0.3 0.5</radii>
+            </ellipsoid>
+          </geometry>
+        </collision>
+        <visual name="ellipsoid_visual">
+          <geometry>
+            <ellipsoid>
+              <radii>0.2 0.3 0.5</radii>
+            </ellipsoid>
+          </geometry>
+          <material>
+            <ambient>1 0 1 1</ambient>
+            <diffuse>1 0 1 1</diffuse>
+            <specular>1 0 1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>

usd/src/sdf_parser/Geometry.cc

@@ -550,18 +550,17 @@ namespace usd
       return errors;
     }
 
-    const float maxRadii = sdfEllipsoid->Radii().Max();
-    usdEllipsoid.CreateRadiusAttr().Set(maxRadii);
+    usdEllipsoid.CreateRadiusAttr().Set(1.0);
     pxr::UsdGeomXformCommonAPI xform(usdEllipsoid);
     xform.SetScale(pxr::GfVec3f{
-      static_cast<float>(sdfEllipsoid->Radii().X() / maxRadii),
-      static_cast<float>(sdfEllipsoid->Radii().Y() / maxRadii),
-      static_cast<float>(sdfEllipsoid->Radii().Z() / maxRadii),
+      static_cast<float>(sdfEllipsoid->Radii().X()),
+      static_cast<float>(sdfEllipsoid->Radii().Y()),
+      static_cast<float>(sdfEllipsoid->Radii().Z()),
     });
     // extents is the bounds before any transformation
     pxr::VtArray<pxr::GfVec3f> extentBounds;
-    extentBounds.push_back(pxr::GfVec3f{-maxRadii});
-    extentBounds.push_back(pxr::GfVec3f{maxRadii});
+    extentBounds.push_back(pxr::GfVec3f{-1.0f});
+    extentBounds.push_back(pxr::GfVec3f{1.0f});
     usdEllipsoid.CreateExtentAttr().Set(extentBounds);
 
     return errors;

usd/src/sdf_parser/Geometry_Sdf2Usd_TEST.cc

@@ -81,6 +81,52 @@ class UsdStageFixture : public::testing::Test
   public: pxr::UsdStageRefPtr stage;
 };
 
+/////////////////////////////////////////////////
+TEST_F(UsdStageFixture, Ellipsoid)
+{
+  const auto testFile = sdf::testing::TestFile("sdf", "ellipsoid.sdf");
+
+  sdf::Root root;
+  ASSERT_TRUE(sdf::testing::LoadSdfFile(testFile, root));
+  ASSERT_EQ(1u, root.WorldCount());
+  const auto world = root.WorldByIndex(0u);
+
+  const auto worldPath = std::string("/" + world->Name());
+  const auto usdErrors = sdf::usd::ParseSdfWorld(*world, stage, worldPath);
+  EXPECT_TRUE(usdErrors.empty());
+
+  const auto usdSphere = pxr::UsdGeomSphere::Define(
+    this->stage,
+    pxr::SdfPath("/ellipsoid_world/ellipsoid/ellipsoid_link/"
+                 "ellipsoid_visual/geometry"));
+  ASSERT_TRUE(usdSphere);
+  bool resetXformStack;
+  const auto xformOps = usdSphere.GetOrderedXformOps(&resetXformStack);
+  ASSERT_EQ(xformOps.size(), 1u);
+  EXPECT_FALSE(resetXformStack);
+  const auto scaleOp = xformOps[0];
+  EXPECT_EQ(scaleOp.GetOpType(), pxr::UsdGeomXformOp::TypeScale);
+  pxr::GfVec3f scaleValue;
+  scaleOp.Get(&scaleValue);
+  EXPECT_FLOAT_EQ(scaleValue[0], 0.2);
+  EXPECT_FLOAT_EQ(scaleValue[1], 0.3);
+  EXPECT_FLOAT_EQ(scaleValue[2], 0.5);
+
+  double radius;
+  EXPECT_TRUE(usdSphere.GetRadiusAttr().Get(&radius));
+  EXPECT_DOUBLE_EQ(radius, 1);
+
+  pxr::VtArray<pxr::GfVec3f> extent;
+  usdSphere.GetExtentAttr().Get(&extent);
+  ASSERT_EQ(extent.size(), 2u);
+  EXPECT_FLOAT_EQ(extent[0][0], -1.0f);
+  EXPECT_FLOAT_EQ(extent[0][1], -1.0f);
+  EXPECT_FLOAT_EQ(extent[0][2], -1.0f);
+  EXPECT_FLOAT_EQ(extent[1][0], 1.0f);
+  EXPECT_FLOAT_EQ(extent[1][1], 1.0f);
+  EXPECT_FLOAT_EQ(extent[1][2], 1.0f);
+}
+
 /////////////////////////////////////////////////
 TEST_F(UsdStageFixture, Geometry)
 {