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USD->SDF: fix transform parsing #822

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Jan 18, 2022
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USD->SDF: fix transform parsing #822

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113 changes: 21 additions & 92 deletions src/usd/usd_parser/utils.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -359,6 +359,12 @@ namespace usd
}

pose.Pos() = t.translate * metersPerUnit;
// scaling is lost when we convert to pose, so we pre-scale the translation
// to make them match the scaled values.
if (!_tfs.empty()) {
auto& child = _tfs.back();
child.Pos().Set(child.Pos().X() * t.scale[0], child.Pos().Y() * t.scale[1], child.Pos().Z() * t.scale[2]);
}

if (!t.isRotationZYX)
{
Expand Down Expand Up @@ -560,105 +566,28 @@ namespace usd

if (op == "xformOp:transform")
{
// FIXME: Shear is lost (does sdformat support it?).

pxr::GfMatrix4d transform;
_prim.GetAttribute(pxr::TfToken("xformOp:transform")).Get(&transform);
pxr::GfVec3d translateMatrix = transform.ExtractTranslation();
pxr::GfQuatd rotation_quadMatrix = transform.ExtractRotationQuat();

ignition::math::Matrix4d m(
transform[0][0], transform[0][1], transform[0][2], transform[0][3],
transform[1][0], transform[1][1], transform[1][2], transform[1][3],
transform[2][0], transform[2][1], transform[2][2], transform[2][3],
transform[3][0], transform[3][1], transform[3][2], transform[3][3]
);
std::cerr << "m " << m << '\n';
const auto rot = transform.RemoveScaleShear();
const auto scaleShear = transform * rot.GetInverse();

std::pair<std::string, std::shared_ptr<USDStage>> data =
_usdData.findStage(_prim.GetPath().GetName());
t.scale[0] = scaleShear[0][0];
t.scale[1] = scaleShear[1][1];
t.scale[2] = scaleShear[2][2];

// bool upAxisZ = (data.second->_upAxis == "Z");
// if(!upAxisZ)
// {
// ignition::math::Matrix4d mUpAxis(
// 1, 0, 0, 0,
// 0, 0, -1, 0,
// 0, 1, 0, 0,
// 0, 0, 0, 1);
//
// pxr::GfMatrix4d mUpAxis2(
// 1, 0, 0, 0,
// 0, 0, -1, 0,
// 0, 1, 0, 0,
// 0, 0, 0, 1);
//
// m = mUpAxis * m;
// transform = mUpAxis2 * transform;
// std::cerr << "m upAxis " << m << '\n';
// }

ignition::math::Vector3d eulerAngles = m.EulerRotation(true);
std::cerr << "eulerAngles " << eulerAngles << '\n';
ignition::math::Matrix4d inverseRX(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(-eulerAngles[0], 0, 0)));
ignition::math::Matrix4d inverseRY(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(0, -eulerAngles[1], 0)));
ignition::math::Matrix4d inverseRZ(ignition::math::Pose3d(
ignition::math::Vector3d(0, 0, 0),
ignition::math::Quaterniond(0, 0, -eulerAngles[2])));

pxr::GfMatrix4d inverseR2X(
inverseRX(0, 0), inverseRX(0, 1), inverseRX(0, 2), inverseRX(0, 3),
inverseRX(1, 0), inverseRX(1, 1), inverseRX(1, 2), inverseRX(1, 3),
inverseRX(2, 0), inverseRX(2, 1), inverseRX(2, 2), inverseRX(2, 3),
inverseRX(3, 0), inverseRX(3, 1), inverseRX(3, 2), inverseRX(3, 3));
pxr::GfMatrix4d inverseR2Y(
inverseRY(0, 0), inverseRY(0, 1), inverseRY(0, 2), inverseRY(0, 3),
inverseRY(1, 0), inverseRY(1, 1), inverseRY(1, 2), inverseRY(1, 3),
inverseRY(2, 0), inverseRY(2, 1), inverseRY(2, 2), inverseRY(2, 3),
inverseRY(3, 0), inverseRY(3, 1), inverseRY(3, 2), inverseRY(3, 3));
pxr::GfMatrix4d inverseR2Z(
inverseRZ(0, 0), inverseRZ(0, 1), inverseRZ(0, 2), inverseRZ(0, 3),
inverseRZ(1, 0), inverseRZ(1, 1), inverseRZ(1, 2), inverseRZ(1, 3),
inverseRZ(2, 0), inverseRZ(2, 1), inverseRZ(2, 2), inverseRZ(2, 3),
inverseRZ(3, 0), inverseRZ(3, 1), inverseRZ(3, 2), inverseRZ(3, 3));

m = inverseRX * (inverseRY * (inverseRZ * m));
transform = inverseR2X * (inverseR2Y * (inverseR2Z * transform));
// ignition::math::Vector3d t = m.Translation();
// ignition::math::Vector3d euler = m.EulerRotation(true);
// ignition::math::Quaternion r(eulerAngles[0], eulerAngles[1], eulerAngles[2]);
std::cerr << "m " << m << '\n';

// std::cerr << "m " << m << '\n';
// std::cerr << "transform " << transform << '\n';

t.scale[0] = transform[0][0];
t.scale[1] = transform[1][1];
t.scale[2] = transform[2][2];

pxr::GfVec3d translateVector = transform.ExtractTranslation();
pxr::GfQuatd rotationInversed = transform.ExtractRotationQuat();
t.translate = ignition::math::Vector3d(
translateVector[0], translateVector[1], translateVector[2]);
ignition::math::Quaterniond q(eulerAngles[0], eulerAngles[1], eulerAngles[2]);
const auto rotQuat = rot.ExtractRotationQuat();
t.translate = ignition::math::Vector3d(transform[3][0], transform[3][1], transform[3][2]);
ignition::math::Quaterniond q(
rotQuat.GetReal(),
rotQuat.GetImaginary()[0],
rotQuat.GetImaginary()[1],
rotQuat.GetImaginary()[2]
);
t.q.push_back(q);
// translate[0] = translateVector[0];
// translate[1] = translateVector[1];
// translate[2] = translateVector[2];
// rotationQuad.SetImaginary(r.X(), r.Y(), r.Z());
// rotationQuad.SetReal(r.W());

// isTranslate = true;
// isRotation = true;
// isScale = true;
t.isTranslate = true;
t.isRotation = true;

std::cerr << "translate " << t.translate << '\n';
std::cerr << "rotation_quad " << q << '\n';
std::cerr << "scale " << t.scale << '\n';
}
}
return t;
Expand Down