Added tests

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

usd/src/CMakeLists.txt

@@ -11,11 +11,11 @@ set(sources
   sdf_parser/Visual.cc
   sdf_parser/World.cc
   usd_parser/ParseUSD.cc
-  usd_parser/Physics.cc
   usd_parser/USD.cc
   usd_parser/USD2SDF.cc
   usd_parser/USDData.cc
   usd_parser/USDMaterial.cc
+  usd_parser/USDPhysics.cc
   usd_parser/USDStage.cc
 )
 
@@ -45,6 +45,7 @@ set(gtest_sources
   sdf_parser/Visual_Sdf2Usd_TEST.cc
   sdf_parser/World_Sdf2Usd_TEST.cc
   usd_parser/USDData_TEST.cc
+  usd_parser/USDPhysics_TEST.cc
   usd_parser/USDStage_TEST.cc
   Conversions_TEST.cc
   UsdError_TEST.cc

usd/src/usd_parser/USD.cc

@@ -18,7 +18,7 @@
 
 #include "sdf/usd/usd_parser/USDData.hh"
 #include "sdf/usd/usd_parser/USDStage.hh"
-#include "Physics.hh"
+#include "USDPhysics.hh"
 
 #pragma push_macro ("__DEPRECATED")
 #undef __DEPRECATED
@@ -60,7 +60,7 @@ namespace usd
         std::pair<std::string, std::shared_ptr<USDStage>> data =
           usdData.FindStage(prim.GetPath().GetName());
 
-        ParsePhysicsScene(prim, _world, data.second->MetersPerUnit());
+        ParseUSDPhysicsScene(prim, _world, data.second->MetersPerUnit());
         continue;
       }
     }

usd/src/usd_parser/Physics.cc → usd/src/usd_parser/USDPhysics.cc

@@ -15,7 +15,7 @@
  *
 */
 
-#include "Physics.hh"
+#include "USDPhysics.hh"
 
 #pragma push_macro ("__DEPRECATED")
 #undef __DEPRECATED
@@ -30,7 +30,7 @@ namespace sdf
 inline namespace SDF_VERSION_NAMESPACE {
 namespace usd
 {
-  void ParsePhysicsScene(
+  void ParseUSDPhysicsScene(
     const pxr::UsdPrim &_prim,
     std::shared_ptr<WorldInterface> &_world,
     double _metersPerUnit)

usd/src/usd_parser/Physics.hh → usd/src/usd_parser/USDPhysics.hh

@@ -25,7 +25,8 @@
 #include <pxr/usd/usd/primRange.h>
 #pragma pop_macro ("__DEPRECATED")
 
-#include <sdf/sdf_config.h>
+#include "sdf/config.hh"
+#include "sdf/usd/Export.hh"
 
 namespace sdf
 {
@@ -38,7 +39,7 @@ namespace sdf
     /// \param[in] _prim Prim to extract the physics attributes
     /// \param[out] _world World interface where the data is placed
     /// \param[in] _metersPerUnit meter per unit in the USD
-    void ParsePhysicsScene(
+    void IGNITION_SDFORMAT_USD_VISIBLE ParseUSDPhysicsScene(
       const pxr::UsdPrim &_prim,
       std::shared_ptr<WorldInterface> &_world,
       double _metersPerUnit);

usd/src/usd_parser/USDPhysics_TEST.cc

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+// TODO(ahcorde):this is to remove deprecated "warnings" in usd, these warnings
+// are reported using #pragma message so normal diagnostic flags cannot remove
+// them. This workaround requires this block to be used whenever usd is
+// included.
+#pragma push_macro ("__DEPRECATED")
+#undef __DEPRECATED
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
+#pragma pop_macro ("__DEPRECATED")
+
+#include "test_config.h"
+#include "test_utils.hh"
+
+#include "USDPhysics.hh"
+#include "usd_model/WorldInterface.hh"
+
+/////////////////////////////////////////////////
+TEST(USDLightsTest, DistanceLight)
+{
+  std::string filename = sdf::testing::TestFile("usd", "upAxisZ.usda");
+  auto stage = pxr::UsdStage::Open(filename);
+  ASSERT_TRUE(stage);
+
+  pxr::UsdPrim prim = stage->GetPrimAtPath(pxr::SdfPath("/shapes/physics"));
+
+  std::shared_ptr<sdf::usd::WorldInterface> worldInterface =
+    std::make_shared<sdf::usd::WorldInterface>();
+
+  double metersPerUnit = 1.0;
+
+  sdf::usd::ParseUSDPhysicsScene(
+    prim, worldInterface, metersPerUnit);
+  EXPECT_EQ(ignition::math::Vector3d(0, 0, -1), worldInterface->gravity);
+  EXPECT_NEAR(9.8, worldInterface->magnitude, 0.0001);
+}