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make SDF to USD a separate component of sdformat (#817)
Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: ahcorde <ahcorde@gmail.com>
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‎.github/ci/before_cmake.sh

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#!/bin/sh -l
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set -x
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BUILD_DIR=`pwd`
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cd /tmp
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# check that we can compile USD from sources (only Focal)
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mkdir cmake_test
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cd cmake_test
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echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
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return_code=0
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cmake . || return_code=$(($return_code + $?))
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if [ $return_code -eq 0 ]
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then
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# compile USD from sources
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cd /tmp
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mkdir usd_binaries
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cd usd_binaries
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apt-get install libboost-all-dev libtbb-dev p7zip-full -y
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wget https://github.com/PixarAnimationStudios/USD/archive/refs/tags/v21.11.zip
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unzip v21.11.zip
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cd USD-21.11
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mkdir build
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cd build
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cmake -DCMAKE_INSTALL_PREFIX="/tmp/USD" -DCMAKE_PREFIX_PATH="/tmp/USD" \
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-DCMAKE_BUILD_TYPE=Release \
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-DPXR_PREFER_SAFETY_OVER_SPEED=ON \
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-DPXR_ENABLE_PYTHON_SUPPORT=OFF \
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-DBUILD_SHARED_LIBS=ON \
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-DTBB_USE_DEBUG_BUILD=OFF \
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-DPXR_BUILD_DOCUMENTATION=OFF \
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-DPXR_BUILD_TESTS=OFF \
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-DPXR_BUILD_EXAMPLES=OFF \
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-DPXR_BUILD_TUTORIALS=OFF \
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-DPXR_BUILD_USD_TOOLS=OFF \
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-DPXR_BUILD_IMAGING=OFF \
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-DPXR_BUILD_USD_IMAGING=OFF \
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-DPXR_BUILD_USDVIEW=OFF \
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-DPXR_BUILD_ALEMBIC_PLUGIN=OFF \
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-DPXR_BUILD_DRACO_PLUGIN=OFF \
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-DPXR_ENABLE_MATERIALX_SUPPORT=OFF \
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-DBoost_INCLUDE_DIR=/usr/include \
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-DBoost_NO_BOOST_CMAKE=FALSE \
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..
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make -j$(nproc) install
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fi
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cd $BUILD_DIR

‎.github/ci/packages.apt

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libignition-cmake2-dev
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libignition-common4-dev
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libignition-math6-dev
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libignition-tools-dev
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libignition-utils1-dev
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libignition-utils1-cli-dev
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libtinyxml2-dev
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liburdfdom-dev
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libxml2-utils

‎.github/workflows/ci.yml

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runs-on: ubuntu-latest
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name: Ubuntu Focal CI
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steps:
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- name: Set env
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run: |
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echo "PATH=$PATH:/tmp/USD/bin" >> $GITHUB_ENV
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echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/tmp/USD/lib" >> $GITHUB_ENV
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echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/tmp/USD" >> $GITHUB_ENV
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- name: Checkout
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uses: actions/checkout@v2
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- name: Compile and test

‎CMakeLists.txt

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ign_find_package(ignition-utils1 VERSION REQUIRED)
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set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
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########################################
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# Find ignition common
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ign_find_package(ignition-common4 COMPONENTS graphics REQUIRED_BY usd)
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set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
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########################################
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# Find PXR
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ign_find_package(pxr QUIET REQUIRED_BY usd PKGCONFIG pxr)
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ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS
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COMPONENTS usd)
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ign_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
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ign_create_packages()
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add_subdirectory(sdf)

‎examples/usdConverter/README.md

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# Converting between SDF and USD
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This example shows how a world in a SDF file can be converted to [USD](https://graphics.pixar.com/usd/release/index.html).
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## Requirements
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You will need all of the dependencies for sdformat, along with the following additional dependencies:
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* USD: [installation instructions](https://github.com/PixarAnimationStudios/USD/blob/release/README.md#getting-and-building-the-code)
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* [ignition-common4](https://github.com/ignitionrobotics/ign-common)
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* [ignition-utils1 (including the CLI component)](https://github.com/ignitionrobotics/ign-utils)
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## Setup
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Build sdformat. The steps below follow a traditional cmake build, but sdformat
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can also be built with [colcon](https://colcon.readthedocs.io/en/released/index.html):
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```bash
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git clone https://github.com/ignitionrobotics/sdformat.git
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cd sdformat
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mkdir build
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cd build
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cmake ..
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make
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```
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You should now have an executable named `sdf2usd` in the `sdformat/build/bin` directory.
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This executable can be used to convert a SDF world file to a USD file.
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To see how the executable works, run the following command from the `sdformat/build/bin` directory:
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```bash
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./sdf2usd -h
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```
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To convert [shapes_world.sdf](https://github.com/ignitionrobotics/sdformat/blob/sdf12/test/sdf/shapes_world.sdf) to its USD representation as a file called `shapes.usd`, run the following commands:
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```bash
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wget https://raw.githubusercontent.com/ignitionrobotics/sdformat/sdf12/test/sdf/shapes_world.sdf
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./sdf2usd shapes_world.sdf shapes.usd
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```
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You can now view the contents of the generated USD file with `usdcat` (this should have been installed when setting up the USD dependency):
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```bash
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usdcat shapes.usd
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```
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To see the visual representation of the USD world, run `usdview` (this should have also been installed when setting up the USD dependency):
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```bash
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usdview shapes.usd
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```
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### Note about building with colcon
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You may need to add the USD library path to your `LD_LIBRARY_PATH` environment variable after sourcing the colcon workspace.
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If the USD library path is not a part of `LD_LIBRARY_PATH`, you will probably see the following error when running the `sdf2usd` executable:
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```bash
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sdf2usd: error while loading shared libraries: libusd_usd.so: cannot open shared object file: No such file or directory
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```
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The typical USD library path is `<usd_installation_path>/lib`.
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So, if you installed USD at `/usr/local/USD`, the following command on Linux properly updates the `LD_LIBRARY_PATH` environment variable:
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```bash
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/USD/lib
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```
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Another thing to note if building with colcon is that after sourcing the workspace with sdformat,
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the `sdf2usd` executable can be run without having to go to the `sdformat/build/bin` directory.
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So, instead of going to that directory and running `./sdf2usd ...`, you should be able to run `sdf2usd ...` from anywhere.

‎test/test_utils.hh

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#define SDF_TEST_UTILS_HH_
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#include <ostream>
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#include <string>
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#include "sdf/Console.hh"
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#include "sdf/Root.hh"
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namespace sdf
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{
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private: sdf::Console::ConsoleStream oldStream;
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};
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/// \brief Load an SDF file into a sdf::Root object
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/// \param[in] _fileName The name of the file to load
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/// \param[in] _root The sdf::Root object to load the file into
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/// \return True if a file named _fileName was successfully loaded into
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/// _root. False otherwise
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bool LoadSdfFile(const std::string &_fileName, sdf::Root &_root)
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{
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auto errors = _root.Load(_fileName);
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if (!errors.empty())
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{
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std::cerr << "Errors encountered:\n";
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for (const auto &e : errors)
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std::cerr << e << "\n";
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return false;
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}
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return true;
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}
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} // namespace testing
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} // namespace sdf
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‎usd/include/sdf/CMakeLists.txt

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ign_install_all_headers(COMPONENT usd)

‎usd/include/sdf/usd/sdf_parser/World.hh

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/*
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* Copyright (C) 2022 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef SDF_USD_SDF_PARSER_WORLD_HH_
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#define SDF_USD_SDF_PARSER_WORLD_HH_
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#include <string>
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// TODO(ahcorde):this is to remove deprecated "warnings" in usd, these warnings
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// are reported using #pragma message so normal diagnostic flags cannot remove
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// them. This workaround requires this block to be used whenever usd is
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// included.
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#pragma push_macro ("__DEPRECATED")
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#undef __DEPRECATED
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#include <pxr/usd/usd/stage.h>
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#pragma pop_macro ("__DEPRECATED")
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#include "sdf/config.hh"
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#include "sdf/system_util.hh"
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#include "sdf/World.hh"
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namespace sdf
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{
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// Inline bracke to help doxygen filtering.
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inline namespace SDF_VERSION_NAMESPACE {
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//
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namespace usd
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{
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/// \brief Parse an SDF world into a USD stage.
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/// \param[in] _world The SDF world to parse.
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/// \param[in] _stage The stage that should contain the USD representation
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/// of _world. It must be initialized first
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/// \param[in] _path The USD path of the parsed world in _stage, which must be
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/// a valid USD path.
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/// \return Errors, which is a vector of Error objects. Each Error includes
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/// an error code and message. An empty vector indicates no error.
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sdf::Errors SDFORMAT_VISIBLE ParseSdfWorld(const sdf::World &_world,
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pxr::UsdStageRefPtr &_stage, const std::string &_path);
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}
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}
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}
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#endif

‎usd/src/CMakeLists.txt

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set(sources
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sdf_parser/World.cc
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)
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ign_add_component(usd SOURCES ${sources} GET_TARGET_NAME usd_target)
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target_include_directories(${usd_target}
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PUBLIC
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${PXR_INCLUDE_DIRS}
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)
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target_link_libraries(${usd_target}
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PUBLIC
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ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
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${PXR_LIBRARIES}
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)
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set(gtest_sources
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sdf_parser/sdf2usd_TEST.cc
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sdf_parser/World_Sdf2Usd_TEST.cc
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)
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# Build the unit tests
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ign_build_tests(
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TYPE UNIT
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SOURCES ${gtest_sources}
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LIB_DEPS ${usd_target} ignition-cmake${IGN_CMAKE_VER}::utilities
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INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/test
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)
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add_subdirectory(cmd)

‎usd/src/cmd/CMakeLists.txt

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if(TARGET ${usd_target})
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add_executable(sdf2usd
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sdf2usd.cc
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)
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target_link_libraries(sdf2usd
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PUBLIC
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ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
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${usd_target}
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)
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install(
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TARGETS
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sdf2usd
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DESTINATION
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${BIN_INSTALL_DIR}
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)
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endif()

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