USD to SDF: Apply rigid body to Model not to Link (#889)

Signed-off-by: ahcorde <ahcorde@gmail.com>

Author: ahcorde

usd/src/UsdTestUtils.hh

@@ -224,7 +224,6 @@ void CheckInertial(const pxr::UsdPrim &_usdPrim,
   }
   EXPECT_TRUE(checkedCOM);
 
-  EXPECT_EQ(_isRigid, _usdPrim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   EXPECT_EQ(_isRigid, _usdPrim.HasAPI<pxr::UsdPhysicsMassAPI>());
 }
 }  // namespace testing

usd/src/sdf_parser/Link.cc

@@ -85,11 +85,12 @@ namespace usd
         return errors;
       }
 
-      if (!pxr::UsdPhysicsRigidBodyAPI::Apply(linkPrim))
+      if (!pxr::UsdPhysicsRigidBodyAPI::Apply(linkPrim.GetParent()))
       {
         errors.push_back(UsdError(sdf::usd::UsdErrorCode::FAILED_PRIM_API_APPLY,
-              "Internal error: unable to mark link at path [" + _path
-              + "] as a rigid body, so mass properties won't be attached"));
+              "Internal error: unable to mark model at path [" +
+              linkPrim.GetParent().GetPath().GetString() + "] as a rigid body, "
+              "so mass properties won't be attached"));
         return errors;
       }
 

usd/src/sdf_parser/Link_Sdf2Usd_TEST.cc

@@ -82,6 +82,7 @@ TEST_F(UsdStageFixture, Link)
   std::string groundPlanePath = worldPath + "/" + "ground_plane";
   auto groundPlane = this->stage->GetPrimAtPath(pxr::SdfPath(groundPlanePath));
   ASSERT_TRUE(groundPlane);
+  EXPECT_FALSE(groundPlane.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(groundPlane,
       ignition::math::Pose3d(
         ignition::math::Vector3d(0, 0, -0.125),
@@ -98,6 +99,7 @@ TEST_F(UsdStageFixture, Link)
   std::string boxPath = worldPath + "/" + "box";
   auto box = this->stage->GetPrimAtPath(pxr::SdfPath(boxPath));
   ASSERT_TRUE(box);
+  EXPECT_TRUE(box.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(box,
       ignition::math::Pose3d(
         ignition::math::Vector3d(0, 0, 2.5),
@@ -116,6 +118,7 @@ TEST_F(UsdStageFixture, Link)
   std::string cylinderPath = worldPath + "/" + "cylinder";
   auto cylinder = this->stage->GetPrimAtPath(pxr::SdfPath(cylinderPath));
   ASSERT_TRUE(cylinder);
+  EXPECT_TRUE(cylinder.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(cylinder,
       ignition::math::Pose3d(
         ignition::math::Vector3d(2, 0, 2.5),
@@ -135,6 +138,7 @@ TEST_F(UsdStageFixture, Link)
   std::string spherePath = worldPath + "/" + "sphere";
   auto sphere = this->stage->GetPrimAtPath(pxr::SdfPath(spherePath));
   ASSERT_TRUE(sphere);
+  EXPECT_TRUE(sphere.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(sphere,
       ignition::math::Pose3d(
         ignition::math::Vector3d(4, 0, 2.5),
@@ -153,6 +157,7 @@ TEST_F(UsdStageFixture, Link)
   std::string capsulePath = worldPath + "/" + "capsule";
   auto capsule = this->stage->GetPrimAtPath(pxr::SdfPath(capsulePath));
   ASSERT_TRUE(capsule);
+  EXPECT_TRUE(capsule.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(capsule,
       ignition::math::Pose3d(
         ignition::math::Vector3d(6, 0, 2.5),
@@ -171,6 +176,7 @@ TEST_F(UsdStageFixture, Link)
   std::string meshPath = worldPath + "/" + "mesh";
   auto mesh = this->stage->GetPrimAtPath(pxr::SdfPath(meshPath));
   ASSERT_TRUE(mesh);
+  EXPECT_TRUE(mesh.HasAPI<pxr::UsdPhysicsRigidBodyAPI>());
   sdf::usd::testing::CheckPrimPose(mesh,
       ignition::math::Pose3d(
         ignition::math::Vector3d(8, 0, 2.5),