USD to SDF: Initial commit (#827)

Signed-off-by: ahcorde <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>

test/usd/upAxisY.usda

@@ -0,0 +1,204 @@
+#usda 1.0
+(
+  metersPerUnit = 1.0
+  upAxis = "Y"
+)
+
+def "shapes"
+{
+    def PhysicsScene "physics"
+    {
+        vector3f physics:gravityDirection = (0, 0, -1)
+        float physics:gravityMagnitude = 9.8
+    }
+
+    def Xform "ground_plane"
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        double3 xformOp:translate = (0, 0, -0.125)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+        def Xform "link"
+        {
+            float3 xformOp:rotateXYZ = (0, 0, 0)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+            def Xform "visual"
+            {
+                float3 xformOp:rotateXYZ = (0, 0, 0)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+                def Cube "geometry" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                    rel material:binding = </Looks/Material_0>
+                    double size = 1
+                    float3 xformOp:scale = (100, 100, 0.25)
+                    uniform token[] xformOpOrder = ["xformOp:scale"]
+                }
+            }
+        }
+    }
+
+    def Xform "box"
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        double3 xformOp:translate = (0, 0, 0.5)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+        def Xform "box_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0, 0, 0)
+            float3 physics:diagonalInertia = (0.16666, 0.16666, 0.16666)
+            float physics:mass = 1
+            float3 xformOp:rotateXYZ = (0, 0, 0)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+            def Xform "box_visual"
+            {
+                float3 xformOp:rotateXYZ = (0, 0, 0)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
+
+                def Cube "geometry" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                    rel material:binding = </Looks/Material_1>
+                    double size = 1
+                    float3 xformOp:scale = (1, 1, 1)
+                    uniform token[] xformOpOrder = ["xformOp:scale"]
+                }
+            }
+        }
+    }
+
+    def Scope "Looks"
+    {
+        def Material "Material_0"
+        {
+            token outputs:mdl:displacement.connect = </Looks/Material_0/Shader.outputs:out>
+            token outputs:mdl:surface.connect = </Looks/Material_0/Shader.outputs:out>
+            token outputs:mdl:volume.connect = </Looks/Material_0/Shader.outputs:out>
+
+            def Shader "Shader"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+                color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) (
+                    customData = {
+                        float3 default = (0.2, 0.2, 0.2)
+                        dictionary range = {
+                            float3 max = (100000, 100000, 100000)
+                            float3 min = (0, 0, 0)
+                        }
+                    }
+                    displayGroup = "Albedo"
+                    displayName = "Base Color"
+                    doc = "This is the base color"
+                )
+                color3f inputs:emissive_color = (0, 0, 0) (
+                    customData = {
+                        float3 default = (1, 0.1, 0.1)
+                        dictionary range = {
+                            float3 max = (100000, 100000, 100000)
+                            float3 min = (0, 0, 0)
+                        }
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Emissive Color"
+                    doc = "The emission color"
+                )
+                float inputs:emissive_intensity = 1 (
+                    customData = {
+                        int default = 40
+                        dictionary range = {
+                            int max = 100000
+                            int min = 0
+                        }
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Emissive Intensity"
+                    doc = "Intensity of the emission"
+                )
+                bool inputs:enable_emission = 1 (
+                    customData = {
+                        int default = 0
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Enable Emissive"
+                    doc = "Enables the emission of light from the material"
+                )
+                token outputs:out
+            }
+        }
+
+        def Material "Material_1"
+        {
+            token outputs:mdl:displacement.connect = </Looks/Material_1/Shader.outputs:out>
+            token outputs:mdl:surface.connect = </Looks/Material_1/Shader.outputs:out>
+            token outputs:mdl:volume.connect = </Looks/Material_1/Shader.outputs:out>
+
+            def Shader "Shader"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+                color3f inputs:diffuse_color_constant = (1, 0, 0) (
+                    customData = {
+                        float3 default = (0.2, 0.2, 0.2)
+                        dictionary range = {
+                            float3 max = (100000, 100000, 100000)
+                            float3 min = (0, 0, 0)
+                        }
+                    }
+                    displayGroup = "Albedo"
+                    displayName = "Base Color"
+                    doc = "This is the base color"
+                )
+                color3f inputs:emissive_color = (0, 0, 0) (
+                    customData = {
+                        float3 default = (1, 0.1, 0.1)
+                        dictionary range = {
+                            float3 max = (100000, 100000, 100000)
+                            float3 min = (0, 0, 0)
+                        }
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Emissive Color"
+                    doc = "The emission color"
+                )
+                float inputs:emissive_intensity = 1 (
+                    customData = {
+                        int default = 40
+                        dictionary range = {
+                            int max = 100000
+                            int min = 0
+                        }
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Emissive Intensity"
+                    doc = "Intensity of the emission"
+                )
+                bool inputs:enable_emission = 1 (
+                    customData = {
+                        int default = 0
+                    }
+                    displayGroup = "Emissive"
+                    displayName = "Enable Emissive"
+                    doc = "Enables the emission of light from the material"
+                )
+                token outputs:out
+            }
+        }
+    }
+}