add tests

Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com>

Author: adlarkin

test/usd/upAxisZ.usda

@@ -121,6 +121,18 @@ def Xform "box" (
                 uniform token[] xformOpOrder = ["xformOp:scale"]
             }
         }
+
+        def DiskLight "boxModelLight" (
+            prepend apiSchemas = ["ShapingAPI"]
+            kind = "model"
+        )
+        {
+            float inputs:intensity = 3000
+            float inputs:specular = 0.5
+            float3 xformOp:rotateZYX = (0, 0, 45)
+            float3 xformOp:translate = (0, 0, 1000)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
+        }
     }
 }
 

usd/src/usd_parser/usd2sdf_TEST.cc

@@ -25,6 +25,8 @@
 
 #include <ignition/utilities/ExtraTestMacros.hh>
 
+#include "sdf/Light.hh"
+#include "sdf/Link.hh"
 #include "sdf/Model.hh"
 #include "sdf/Root.hh"
 #include "sdf/World.hh"
@@ -121,6 +123,16 @@ TEST(check_cmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     EXPECT_EQ(
       "ignition-gazebo-scene-broadcaster-system", plugins[3].Filename());
 
+    // the world should have lights attached to it
+    std::set<std::string> savedLightNames;
+    for (unsigned int i = 0; i < world->LightCount(); ++i)
+      savedLightNames.insert(world->LightByIndex(i)->Name());
+    EXPECT_EQ(3u, savedLightNames.size());
+
+    EXPECT_NE(savedLightNames.end(), savedLightNames.find("defaultLight"));
+    EXPECT_NE(savedLightNames.end(), savedLightNames.find("diskLight"));
+    EXPECT_NE(savedLightNames.end(), savedLightNames.find("sun"));
+
     // make sure all models in the USD file were correctly parsed to SDF
     std::set<std::string> savedModelNames;
     for (unsigned int i = 0; i < world->ModelCount(); ++i)
@@ -140,20 +152,30 @@ TEST(check_cmd, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     ASSERT_NE(nullptr, world->ModelByName("box"));
     EXPECT_FALSE(world->ModelByName("box")->Static());
 
-    // check that models have the right links
-    std::function<void(const std::string &, const std::string &)> checkLink =
-      [&world](const std::string &_modelName, const std::string &_linkName)
+    // Check that models have the right links.
+    // If a link should have a light attached to it, check that as well
+    std::function<void(const std::string &, const std::string &,
+        const std::string &)> checkLink =
+      [&world](const std::string &_modelName, const std::string &_linkName,
+          const std::string &_lightLinkName)
       {
         const auto modelPtr = world->ModelByName(_modelName);
         ASSERT_NE(nullptr, modelPtr);
         EXPECT_EQ(1u, modelPtr->LinkCount());
         EXPECT_NE(nullptr, modelPtr->LinkByName(_linkName));
+
+        if (!_lightLinkName.empty())
+        {
+          auto modelLink = modelPtr->LinkByName(_linkName);
+          ASSERT_NE(nullptr, modelLink);
+          EXPECT_NE(nullptr, modelLink->LightByName(_lightLinkName));
+        }
       };
-    checkLink("ground_plane", "link");
-    checkLink("box", "box_link");
-    checkLink("cylinder", "cylinder_link");
-    checkLink("sphere", "sphere_link");
-    checkLink("capsule", "capsule_link");
-    checkLink("ellipsoid", "ellipsoid_link");
+    checkLink("ground_plane", "link", "");
+    checkLink("box", "box_link", "boxModelLight");
+    checkLink("cylinder", "cylinder_link", "");
+    checkLink("sphere", "sphere_link", "");
+    checkLink("capsule", "capsule_link", "");
+    checkLink("ellipsoid", "ellipsoid_link", "");
   }
 }