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CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/bindings/CesiumOmniversePythonBindings.pyi

from typing import Any, List, Tuple from typing import overload class Asset: def __init__(self, *args, **kwargs) -> None: ... @property def asset_id(self) -> int: ... @property def asset_type(self) -> str: ... @property def attribution(self) -> str: ... @property def bytes(self) -> int: ... @property def date_added(self) -> str: ... @property def description(self) -> str: ... @property def name(self) -> str: ... @property def percent_complete(self) -> int: ... @property def status(self) -> str: ... class AssetTroubleshootingDetails: def __init__(self, *args, **kwargs) -> None: ... @property def asset_exists_in_user_account(self) -> bool: ... @property def asset_id(self) -> int: ... class Assets: def __init__(self, *args, **kwargs) -> None: ... @property def items(self) -> Any: ... @property def link(self) -> str: ... class CesiumIonSession: def __init__(self, *args, **kwargs) -> None: ... def disconnect(self) -> None: ... def get_assets(self, *args, **kwargs) -> Any: ... def get_authorize_url(self) -> str: ... def get_connection(self, *args, **kwargs) -> Any: ... def get_profile(self, *args, **kwargs) -> Any: ... def get_tokens(self, *args, **kwargs) -> Any: ... def is_asset_list_loaded(self) -> bool: ... def is_connected(self) -> bool: ... def is_connecting(self) -> bool: ... def is_loading_asset_list(self) -> bool: ... def is_loading_profile(self) -> bool: ... def is_loading_token_list(self) -> bool: ... def is_profile_loaded(self) -> bool: ... def is_resuming(self) -> bool: ... def is_token_list_loaded(self) -> bool: ... def refresh_assets(self) -> None: ... def refresh_profile(self) -> None: ... def refresh_tokens(self) -> None: ... class Connection: def __init__(self, *args, **kwargs) -> None: ... def get_access_token(self) -> str: ... def get_api_uri(self) -> str: ... class ICesiumOmniverseInterface: def __init__(self, *args, **kwargs) -> None: ... def clear_accessor_cache(self) -> None: ... def connect_to_ion(self) -> None: ... def create_token(self, arg0: str) -> None: ... def credits_available(self) -> bool: ... def credits_start_next_frame(self) -> None: ... def get_asset_token_troubleshooting_details(self, *args, **kwargs) -> Any: ... def get_asset_troubleshooting_details(self, *args, **kwargs) -> Any: ... def get_credits(self) -> List[Tuple[str, bool]]: ... def get_default_token_troubleshooting_details(self, *args, **kwargs) -> Any: ... def get_render_statistics(self, *args, **kwargs) -> Any: ... def get_server_path(self) -> str: ... def get_server_paths(self) -> List[str]: ... def get_session(self, *args, **kwargs) -> Any: ... def get_sessions(self, *args, **kwargs) -> Any: ... def get_set_default_token_result(self, *args, **kwargs) -> Any: ... def is_default_token_set(self) -> bool: ... def is_tracing_enabled(self) -> bool: ... def on_shutdown(self) -> None: ... def on_stage_change(self, arg0: int) -> None: ... def on_startup(self, arg0: str) -> None: ... def on_update_frame(self, arg0: List[ViewportPythonBinding], arg1: bool) -> None: ... def print_fabric_stage(self) -> str: ... def reload_tileset(self, arg0: str) -> None: ... def select_token(self, arg0: str, arg1: str) -> None: ... def specify_token(self, arg0: str) -> None: ... @overload def update_troubleshooting_details(self, arg0: str, arg1: int, arg2: int, arg3: int) -> None: ... @overload def update_troubleshooting_details(self, arg0: str, arg1: int, arg2: int, arg3: int, arg4: int) -> None: ... class Profile: def __init__(self, *args, **kwargs) -> None: ... @property def id(self) -> int: ... @property def username(self) -> str: ... class RenderStatistics: def __init__(self, *args, **kwargs) -> None: ... @property def culled_tiles_visited(self) -> int: ... @property def geometries_capacity(self) -> int: ... @property def geometries_loaded(self) -> int: ... @property def geometries_rendered(self) -> int: ... @property def materials_capacity(self) -> int: ... @property def materials_loaded(self) -> int: ... @property def max_depth_visited(self) -> int: ... @property def tiles_culled(self) -> int: ... @property def tiles_loaded(self) -> int: ... @property def tiles_loading_main(self) -> int: ... @property def tiles_loading_worker(self) -> int: ... @property def tiles_rendered(self) -> int: ... @property def tiles_visited(self) -> int: ... @property def tileset_cached_bytes(self) -> int: ... @property def triangles_loaded(self) -> int: ... @property def triangles_rendered(self) -> int: ... class SetDefaultTokenResult: def __init__(self, *args, **kwargs) -> None: ... @property def code(self) -> int: ... @property def message(self) -> str: ... class Token: def __init__(self, *args, **kwargs) -> None: ... @property def id(self) -> str: ... @property def is_default(self) -> bool: ... @property def name(self) -> str: ... @property def token(self) -> str: ... class TokenTroubleshootingDetails: def __init__(self, *args, **kwargs) -> None: ... @property def allows_access_to_asset(self) -> bool: ... @property def associated_with_user_account(self) -> bool: ... @property def is_valid(self) -> bool: ... @property def show_details(self) -> bool: ... @property def token(self) -> Token: ... class Viewport: height: float projMatrix: Matrix4d viewMatrix: Matrix4d width: float def __init__(self) -> None: ... def acquire_cesium_omniverse_interface( plugin_name: str = ..., library_path: str = ... ) -> ICesiumOmniverseInterface: ... def release_cesium_omniverse_interface(arg0: ICesiumOmniverseInterface) -> None: ...

unknown

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/raster_overlay_to_add.py

from __future__ import annotations from typing import Optional import carb.events class RasterOverlayToAdd: def __init__(self, tileset_path: str, raster_overlay_ion_asset_id: int, raster_overlay_name: str): self.tileset_path = tileset_path self.raster_overlay_ion_asset_id = raster_overlay_ion_asset_id self.raster_overlay_name = raster_overlay_name def to_dict(self) -> dict: return { "tileset_path": self.tileset_path, "raster_overlay_ion_asset_id": self.raster_overlay_ion_asset_id, "raster_overlay_name": self.raster_overlay_name, } @staticmethod def from_event(event: carb.events.IEvent) -> Optional[RasterOverlayToAdd]: if event.payload is None or len(event.payload) == 0: return None return RasterOverlayToAdd( event.payload["tileset_path"], event.payload["raster_overlay_ion_asset_id"], event.payload["raster_overlay_name"], )

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/__init__.py

from .asset_to_add import AssetToAdd # noqa: F401 from .raster_overlay_to_add import RasterOverlayToAdd # noqa: F401

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/asset_to_add.py

from __future__ import annotations from typing import Optional import carb.events class AssetToAdd: def __init__( self, tileset_name: str, tileset_ion_asset_id: int, raster_overlay_name: Optional[str] = None, raster_overlay_ion_asset_id: Optional[int] = None, ): self.tileset_name = tileset_name self.tileset_ion_asset_id = tileset_ion_asset_id self.raster_overlay_name = raster_overlay_name self.raster_overlay_ion_asset_id = raster_overlay_ion_asset_id def to_dict(self) -> dict: return { "tileset_name": self.tileset_name, "tileset_ion_asset_id": self.tileset_ion_asset_id, "raster_overlay_name": self.raster_overlay_name, "raster_overlay_ion_asset_id": self.raster_overlay_ion_asset_id, } @staticmethod def from_event(event: carb.events.IEvent) -> Optional[AssetToAdd]: if event.payload is None or len(event.payload) == 0: return None return AssetToAdd( event.payload["tileset_name"], event.payload["tileset_ion_asset_id"], event.payload["raster_overlay_name"], event.payload["raster_overlay_ion_asset_id"], )

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/tests/raster_overlay_to_add_test.py

import carb.events import omni.kit.test from unittest.mock import MagicMock from cesium.omniverse.models.raster_overlay_to_add import RasterOverlayToAdd TILESET_PATH = "/fake/tileset/path" RASTER_OVERLAY_NAME = "fake_raster_overlay_name" RASTER_OVERLAY_ION_ASSET_ID = 2 PAYLOAD_DICT = { "tileset_path": TILESET_PATH, "raster_overlay_name": RASTER_OVERLAY_NAME, "raster_overlay_ion_asset_id": RASTER_OVERLAY_ION_ASSET_ID, } class RasterOverlayToAddTest(omni.kit.test.AsyncTestCase): async def setUp(self): pass async def tearDown(self): pass async def test_convert_raster_overlay_to_add_to_dict(self): raster_overlay_to_add = RasterOverlayToAdd( tileset_path=TILESET_PATH, raster_overlay_ion_asset_id=RASTER_OVERLAY_ION_ASSET_ID, raster_overlay_name=RASTER_OVERLAY_NAME, ) result = raster_overlay_to_add.to_dict() self.assertEqual(result["tileset_path"], TILESET_PATH) self.assertEqual(result["raster_overlay_name"], RASTER_OVERLAY_NAME) self.assertEqual(result["raster_overlay_ion_asset_id"], RASTER_OVERLAY_ION_ASSET_ID) async def test_create_raster_overlay_to_add_from_event(self): mock_event = MagicMock(spec=carb.events.IEvent) mock_event.payload = PAYLOAD_DICT raster_overlay_to_add = RasterOverlayToAdd.from_event(mock_event) self.assertIsNotNone(raster_overlay_to_add) self.assertEqual(raster_overlay_to_add.tileset_path, TILESET_PATH) self.assertEqual(raster_overlay_to_add.raster_overlay_name, RASTER_OVERLAY_NAME) self.assertEqual(raster_overlay_to_add.raster_overlay_ion_asset_id, RASTER_OVERLAY_ION_ASSET_ID) async def test_create_raster_overlay_to_add_from_empty_event(self): mock_event = MagicMock(spec=carb.events.IEvent) mock_event.payload = None raster_overlay_to_add = RasterOverlayToAdd.from_event(mock_event) self.assertIsNone(raster_overlay_to_add)

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/tests/__init__.py

from .asset_to_add_test import AssetToAddTest # noqa: F401 from .raster_overlay_to_add_test import RasterOverlayToAddTest # noqa: F401

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/models/tests/asset_to_add_test.py

import carb.events import omni.kit.test from unittest.mock import MagicMock from cesium.omniverse.models.asset_to_add import AssetToAdd TILESET_NAME = "fake_tileset_name" TILESET_ION_ASSET_ID = 1 RASTER_OVERLAY_NAME = "fake_raster_overlay_name" RASTER_OVERLAY_ION_ASSET_ID = 2 PAYLOAD_DICT = { "tileset_name": TILESET_NAME, "tileset_ion_asset_id": TILESET_ION_ASSET_ID, "raster_overlay_name": RASTER_OVERLAY_NAME, "raster_overlay_ion_asset_id": RASTER_OVERLAY_ION_ASSET_ID, } class AssetToAddTest(omni.kit.test.AsyncTestCase): async def setUp(self): pass async def tearDown(self): pass async def test_convert_asset_to_add_to_dict(self): asset_to_add = AssetToAdd( tileset_name=TILESET_NAME, tileset_ion_asset_id=TILESET_ION_ASSET_ID, raster_overlay_name=RASTER_OVERLAY_NAME, raster_overlay_ion_asset_id=RASTER_OVERLAY_ION_ASSET_ID, ) result = asset_to_add.to_dict() self.assertEqual(result["tileset_name"], TILESET_NAME) self.assertEqual(result["tileset_ion_asset_id"], TILESET_ION_ASSET_ID) self.assertEqual(result["raster_overlay_name"], RASTER_OVERLAY_NAME) self.assertEqual(result["raster_overlay_ion_asset_id"], RASTER_OVERLAY_ION_ASSET_ID) async def test_create_asset_to_add_from_event(self): mock_event = MagicMock(spec=carb.events.IEvent) mock_event.payload = PAYLOAD_DICT asset_to_add = AssetToAdd.from_event(mock_event) self.assertIsNotNone(asset_to_add) self.assertEqual(asset_to_add.tileset_name, TILESET_NAME) self.assertEqual(asset_to_add.tileset_ion_asset_id, TILESET_ION_ASSET_ID) self.assertEqual(asset_to_add.raster_overlay_name, RASTER_OVERLAY_NAME) self.assertEqual(asset_to_add.raster_overlay_ion_asset_id, RASTER_OVERLAY_ION_ASSET_ID) async def test_create_asset_to_add_from_empty_event(self): mock_event = MagicMock(spec=carb.events.IEvent) mock_event.payload = None asset_to_add = AssetToAdd.from_event(mock_event) self.assertIsNone(asset_to_add)

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/tests/__init__.py

# For Python testing within Omniverse, it only looks in the `.tests` submodule in whatever is defined # as an extensions Python module. For organization purposes, we then import all of our tests from our other # testing submodules. from .extension_test import * # noqa: F401 F403 from ..models.tests import * # noqa: F401 F403 from ..ui.tests import * # noqa: F401 F403 from ..ui.models.tests import * # noqa: F401 F403

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/tests/utils.py

from pathlib import Path import omni.kit.app def get_golden_img_dir(): manager = omni.kit.app.get_app().get_extension_manager() ext_id = manager.get_extension_id_by_module("cesium.omniverse") return Path(manager.get_extension_path(ext_id)).joinpath("images/tests/ui/pass_fail_widget") async def wait_for_update(wait_frames=10): for _ in range(wait_frames): await omni.kit.app.get_app().next_update_async()

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/tests/extension_test.py

import omni.kit.test import omni.kit.ui_test as ui_test import omni.usd import pxr.Usd import cesium.usd from typing import Optional _window_ref: Optional[ui_test.WidgetRef] = None class ExtensionTest(omni.kit.test.AsyncTestCase): async def setUp(self): global _window_ref # can be removed (or at least decreased) once there is no delay # required before spawning the cesium window. See: # https://github.com/CesiumGS/cesium-omniverse/pull/423 await ui_test.wait_n_updates(24) _window_ref = ui_test.find("Cesium") async def tearDown(self): pass async def test_cesium_window_opens(self): global _window_ref self.assertIsNotNone(_window_ref) async def test_window_docked(self): global _window_ref # docked is false if the window is not in focus, # as may be the case if other extensions are loaded await _window_ref.focus() self.assertTrue(_window_ref.window.docked) async def test_blank_tileset(self): global _window_ref blankTilesetButton = _window_ref.find("**/Button[*].text=='Blank 3D Tiles Tileset'") self.assertIsNotNone(blankTilesetButton) stage: pxr.Usd.Stage = omni.usd.get_context().get_stage() self.assertIsNotNone(stage) self.assertFalse(any([i.IsA(cesium.usd.plugins.CesiumUsdSchemas.Tileset) for i in stage.Traverse()])) await blankTilesetButton.click() await ui_test.wait_n_updates(2) # passes without, but seems prudent self.assertTrue(any([i.IsA(cesium.usd.plugins.CesiumUsdSchemas.Tileset) for i in stage.Traverse()]))

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/utils/custom_fields.py

import omni.ui as ui READ_ONLY_STYLE = {"color": ui.color("#888888")} def string_field_with_label(label_text, model=None, enabled=True): with ui.HStack(spacing=4, height=20): ui.Label(label_text, height=20, width=100) field = ui.StringField(height=20, enabled=enabled) if not enabled: field.style = READ_ONLY_STYLE if model: field.model = model return field def int_field_with_label(label_text, model=None, enabled=True): with ui.HStack(spacing=4, height=20): ui.Label(label_text, height=20, width=100) field = ui.IntField(height=20, enabled=enabled) if not enabled: field.style = READ_ONLY_STYLE if model: field.model = model return field def float_field_with_label(label_text, model=None, enabled=True): with ui.HStack(spacing=4, height=20): ui.Label(label_text, height=20, width=100) field = ui.FloatField(height=20, enabled=enabled, precision=7) if not enabled: field.style = READ_ONLY_STYLE if model: field.model = model return field

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/utils/utils.py

from typing import Optional, Callable import omni.usd import omni.kit import omni.ui as ui async def wait_n_frames(n: int) -> None: for i in range(0, n): await omni.kit.app.get_app().next_update_async() async def dock_window_async( window: Optional[ui.Window], target: str = "Stage", position: ui.DockPosition = ui.DockPosition.SAME ) -> None: if window is None: return # Wait five frame await wait_n_frames(5) stage_window = ui.Workspace.get_window(target) window.dock_in(stage_window, position, 1) window.focus() async def perform_action_after_n_frames_async(n: int, action: Callable[[], None]) -> None: await wait_n_frames(n) action() def str_is_empty_or_none(s: Optional[str]) -> bool: if s is None: return True if s == "": return True return False

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/cesium/omniverse/utils/cesium_interface.py

from ..bindings import acquire_cesium_omniverse_interface class CesiumInterfaceManager: def __init__(self): # Acquires the interface. Is a singleton. self.interface = acquire_cesium_omniverse_interface() def __enter__(self): return self.interface def __exit__(self, exc_type, exc_val, exc_tb): # We release the interface when we pull down the plugin. pass

Python

CesiumGS/cesium-omniverse/exts/cesium.omniverse/config/extension.toml

[package] version = "0.19.0" category = "simulation" feature = false app = false title = "Cesium for Omniverse" description = "High-accuracy full-scale WGS84 globe for Omniverse" authors = "Cesium GS Inc." repository = "https://github.com/CesiumGS/cesium-omniverse" keywords = [ "cesium", "omniverse", "geospatial", "3D Tiles", "glTF", "globe", "earth", "simulation", ] # Paths are relative to the extension folder changelog = "doc/CHANGES.md" readme = "doc/README.md" preview_image = "doc/resources/preview.jpg" icon = "doc/resources/icon.png" [package.target] kit = ["105.1"] [package.writeTarget] kit = true python = false # Which extensions this extension depends on [dependencies] "cesium.usd.plugins" = { version = "0.4.0" } "usdrt.scenegraph" = {} "omni.ui" = {} "omni.usd" = {} "omni.ui.scene" = {} "omni.usd.libs" = {} "omni.kit.commands" = {} "omni.kit.pipapi" = {} "omni.kit.uiapp" = {} "omni.kit.viewport.utility" = {} "omni.kit.property.usd" = {} "omni.kit.menu.utils" = {} "omni.kit.capture.viewport" = {} # Main python module this extension provides, it will be publicly available as "import cesium.omniverse" [[python.module]] name = "cesium.omniverse" [python.pipapi] archiveDirs = ["vendor"] [[native.plugin]] path = "bin/cesium.omniverse.plugin" [settings] exts."cesium.omniverse".defaultAccessToken = "" persistent.exts."cesium.omniverse".userAccessToken = "" exts."cesium.omniverse".showOnStartup = true [[test]] args = [ "--/renderer/enabled=rtx", "--/renderer/active=rtx", "--/app/window/dpiScaleOverride=1.0", "--/app/window/scaleToMonitor=false", "--/app/file/ignoreUnsavedOnExit=true", ] dependencies = [ "omni.hydra.pxr", "omni.kit.mainwindow", "omni.kit.ui_test", "omni.kit.test_suite.helpers", "omni.kit.window.file", "omni.kit.viewport.window", ] pythonTests.include = ["cesium.omniverse.*"] pythonTests.exclude = [] pythonTests.unreliable = [ "*test_window_docked", # window does not dock when tests run from the empty test kit via the omniverse app ] timeout = 180

TOML

CesiumGS/cesium-omniverse/apps/exts/cesium.performance.app/cesium/performance/app/extension.py

from functools import partial import asyncio import time from typing import Callable, List, Optional import logging import carb.events import omni.ext import omni.ui as ui import omni.usd import omni.kit.app as app import omni.kit.ui from omni.kit.viewport.utility import get_active_viewport from pxr import Gf, Sdf, UsdGeom from .performance_window import CesiumPerformanceWindow from .fps_sampler import FpsSampler from cesium.omniverse.bindings import acquire_cesium_omniverse_interface, release_cesium_omniverse_interface from cesium.omniverse.utils import wait_n_frames, dock_window_async from cesium.usd.plugins.CesiumUsdSchemas import ( Data as CesiumData, Georeference as CesiumGeoreference, IonRasterOverlay as CesiumIonRasterOverlay, Tileset as CesiumTileset, Tokens as CesiumTokens, ) ION_ACCESS_TOKEN = "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiI0Y2ZjNzY3NC04MWIyLTQyN2ItODg3Zi0zYzk3MmQxZWYxMmIiLCJpZCI6MjU5LCJpYXQiOjE3MTE5NzkyNzl9.GuvRiyuJO14zjA5_mIwgocOShmF4EUj2xbmikcCeXxs" # noqa: E501 GOOGLE_3D_TILES_ION_ID = 2275207 CESIUM_DATA_PRIM_PATH = "/Cesium" CESIUM_GEOREFERENCE_PRIM_PATH = "/CesiumGeoreference" CESIUM_CAMERA_PATH = "/Camera" class CesiumPerformanceExtension(omni.ext.IExt): def __init__(self): super().__init__() self._logger = logging.getLogger(__name__) self._performance_window: Optional[CesiumPerformanceWindow] = None self._view_new_york_city_subscription: Optional[carb.events.ISubscription] = None self._view_paris_subscription: Optional[carb.events.ISubscription] = None self._view_grand_canyon_subscription: Optional[carb.events.ISubscription] = None self._view_tour_subscription: Optional[carb.events.ISubscription] = None self._view_new_york_city_google_subscription: Optional[carb.events.ISubscription] = None self._view_paris_google_subscription: Optional[carb.events.ISubscription] = None self._view_grand_canyon_google_subscription: Optional[carb.events.ISubscription] = None self._view_tour_google_subscription: Optional[carb.events.ISubscription] = None self._stop_subscription: Optional[carb.events.ISubscription] = None self._on_stage_subscription: Optional[carb.events.ISubscription] = None self._update_frame_subscription: Optional[carb.events.ISubscription] = None self._tileset_loaded_subscription: Optional[carb.events.ISubscription] = None self._camera_path: Optional[str] = None self._tileset_path: Optional[str] = None self._active: bool = False self._start_time: float = 0.0 self._fps_sampler: FpsSampler = FpsSampler() def on_startup(self): global _cesium_omniverse_interface _cesium_omniverse_interface = acquire_cesium_omniverse_interface() self._setup_menus() self._show_and_dock_startup_windows() bus = app.get_app().get_message_bus_event_stream() view_new_york_city_event = carb.events.type_from_string("cesium.performance.VIEW_NEW_YORK_CITY") self._view_new_york_city_subscription = bus.create_subscription_to_pop_by_type( view_new_york_city_event, self._view_new_york_city ) view_paris_event = carb.events.type_from_string("cesium.performance.VIEW_PARIS") self._view_paris_subscription = bus.create_subscription_to_pop_by_type(view_paris_event, self._view_paris) view_grand_canyon_event = carb.events.type_from_string("cesium.performance.VIEW_GRAND_CANYON") self._view_grand_canyon_subscription = bus.create_subscription_to_pop_by_type( view_grand_canyon_event, self._view_grand_canyon ) view_tour_event = carb.events.type_from_string("cesium.performance.VIEW_TOUR") self._view_tour_subscription = bus.create_subscription_to_pop_by_type(view_tour_event, self._view_tour) view_new_york_city_google_event = carb.events.type_from_string("cesium.performance.VIEW_NEW_YORK_CITY_GOOGLE") self._view_new_york_city_google_subscription = bus.create_subscription_to_pop_by_type( view_new_york_city_google_event, self._view_new_york_city_google ) view_paris_google_event = carb.events.type_from_string("cesium.performance.VIEW_PARIS_GOOGLE") self._view_paris_google_subscription = bus.create_subscription_to_pop_by_type( view_paris_google_event, self._view_paris_google ) view_grand_canyon_google_event = carb.events.type_from_string("cesium.performance.VIEW_GRAND_CANYON_GOOGLE") self._view_grand_canyon_google_subscription = bus.create_subscription_to_pop_by_type( view_grand_canyon_google_event, self._view_grand_canyon_google ) view_tour_google_event = carb.events.type_from_string("cesium.performance.VIEW_TOUR_GOOGLE") self._view_tour_google_subscription = bus.create_subscription_to_pop_by_type( view_tour_google_event, self._view_tour_google ) stop_event = carb.events.type_from_string("cesium.performance.STOP") self._stop_subscription = bus.create_subscription_to_pop_by_type(stop_event, self._on_stop) usd_context = omni.usd.get_context() if usd_context.get_stage_state() == omni.usd.StageState.OPENED: self._on_stage_opened() self._on_stage_subscription = usd_context.get_stage_event_stream().create_subscription_to_pop( self._on_stage_event, name="cesium.performance.ON_STAGE_EVENT" ) update_stream = app.get_app().get_update_event_stream() self._update_frame_subscription = update_stream.create_subscription_to_pop( self._on_update_frame, name="cesium.performance.ON_UPDATE_FRAME" ) def on_shutdown(self): self._clear_scene() if self._view_new_york_city_subscription is not None: self._view_new_york_city_subscription.unsubscribe() self._view_new_york_city_subscription = None if self._view_paris_subscription is not None: self._view_paris_subscription.unsubscribe() self._view_paris_subscription = None if self._view_grand_canyon_subscription is not None: self._view_grand_canyon_subscription.unsubscribe() self._view_grand_canyon_subscription = None if self._view_tour_subscription is not None: self._view_tour_subscription.unsubscribe() self._view_tour_subscription = None if self._view_new_york_city_google_subscription is not None: self._view_new_york_city_google_subscription.unsubscribe() self._view_new_york_city_google_subscription = None if self._view_paris_google_subscription is not None: self._view_paris_google_subscription.unsubscribe() self._view_paris_google_subscription = None if self._view_grand_canyon_google_subscription is not None: self._view_grand_canyon_google_subscription.unsubscribe() self._view_grand_canyon_google_subscription = None if self._view_tour_google_subscription is not None: self._view_tour_google_subscription.unsubscribe() self._view_tour_google_subscription = None if self._stop_subscription is not None: self._stop_subscription.unsubscribe() self._stop_subscription = None if self._on_stage_subscription is not None: self._on_stage_subscription.unsubscribe() self._on_stage_subscription = None if self._update_frame_subscription is not None: self._update_frame_subscription.unsubscribe() self._update_frame_subscription = None self._fps_sampler.destroy() self._destroy_performance_window() release_cesium_omniverse_interface(_cesium_omniverse_interface) def _setup_menus(self): ui.Workspace.set_show_window_fn( CesiumPerformanceWindow.WINDOW_NAME, partial(self._show_performance_window, None) ) editor_menu = omni.kit.ui.get_editor_menu() if editor_menu: editor_menu.add_item( CesiumPerformanceWindow.MENU_PATH, self._show_performance_window, toggle=True, value=True ) def _show_and_dock_startup_windows(self): ui.Workspace.show_window(CesiumPerformanceWindow.WINDOW_NAME) asyncio.ensure_future(dock_window_async(self._performance_window, target="Property")) def _destroy_performance_window(self): if self._performance_window is not None: self._performance_window.destroy() self._performance_window = None async def _destroy_window_async(self, path): # Wait one frame, this is due to the one frame defer in Window::_moveToMainOSWindow() await wait_n_frames(1) if path is CesiumPerformanceWindow.MENU_PATH: self._destroy_performance_window() def _visibility_changed_fn(self, path, visible): editor_menu = omni.kit.ui.get_editor_menu() if editor_menu: editor_menu.set_value(path, visible) if not visible: asyncio.ensure_future(self._destroy_window_async(path)) def _show_performance_window(self, _menu, value): if value: self._performance_window = CesiumPerformanceWindow(_cesium_omniverse_interface, width=300, height=400) self._performance_window.set_visibility_changed_fn( partial(self._visibility_changed_fn, CesiumPerformanceWindow.MENU_PATH) ) elif self._performance_window is not None: self._performance_window.visible = False def _on_update_frame(self, _e: carb.events.IEvent): if self._active is True: duration = self._get_duration() self._update_duration_ui(duration) self._update_fps_ui(self._fps_sampler.get_fps()) def _on_stage_event(self, _e: carb.events.IEvent): usd_context = omni.usd.get_context() if usd_context.get_stage_state() == omni.usd.StageState.OPENED: self._on_stage_opened() def _on_stage_opened(self): self._camera_path = self._create_camera(CESIUM_CAMERA_PATH) @staticmethod def _create_tileset_ion(path: str, asset_id: int, access_token: str) -> str: stage = omni.usd.get_context().get_stage() tileset_path = omni.usd.get_stage_next_free_path(stage, path, False) tileset = CesiumTileset.Define(stage, tileset_path) assert tileset.GetPrim().IsValid() tileset.GetIonAssetIdAttr().Set(asset_id) tileset.GetIonAccessTokenAttr().Set(access_token) tileset.GetSourceTypeAttr().Set(CesiumTokens.ion) return tileset_path @staticmethod def _create_tileset_google() -> str: stage = omni.usd.get_context().get_stage() tileset_path = omni.usd.get_stage_next_free_path(stage, "/Google_3D_Tiles", False) tileset = CesiumTileset.Define(stage, tileset_path) tileset.GetIonAssetIdAttr().Set(GOOGLE_3D_TILES_ION_ID) tileset.GetIonAccessTokenAttr().Set(ION_ACCESS_TOKEN) tileset.GetSourceTypeAttr().Set(CesiumTokens.ion) return tileset_path @staticmethod def _create_raster_overlay_ion(path: str, asset_id: int, access_token: str) -> str: stage = omni.usd.get_context().get_stage() raster_overlay_path = omni.usd.get_stage_next_free_path(stage, path, False) raster_overlay = CesiumIonRasterOverlay.Define(stage, raster_overlay_path) assert raster_overlay.GetPrim().IsValid() parent = raster_overlay.GetPrim().GetParent() assert parent.IsA(CesiumTileset) tileset_prim = CesiumTileset.Get(stage, parent.GetPath()) tileset_prim.GetRasterOverlayBindingRel().AddTarget(raster_overlay_path) raster_overlay.GetIonAssetIdAttr().Set(asset_id) raster_overlay.GetIonAccessTokenAttr().Set(access_token) return raster_overlay_path @staticmethod def _create_camera(path: str) -> str: stage = omni.usd.get_context().get_stage() if stage.GetPrimAtPath(path): return path camera = UsdGeom.Camera.Define(stage, path) assert camera.GetPrim().IsValid() camera.GetClippingRangeAttr().Set(Gf.Vec2f(1.0, 100000000.0)) return path @staticmethod def _get_raster_overlay_path(tileset_path: str, raster_overlay_name: str) -> str: return Sdf.Path(tileset_path).AppendPath(raster_overlay_name).pathString @staticmethod def _set_georeference(longitude: float, latitude: float, height: float): stage = omni.usd.get_context().get_stage() cesium_georeference = CesiumGeoreference.Get(stage, CESIUM_GEOREFERENCE_PRIM_PATH) assert cesium_georeference.GetPrim().IsValid() cesium_georeference.GetGeoreferenceOriginLongitudeAttr().Set(longitude) cesium_georeference.GetGeoreferenceOriginLatitudeAttr().Set(latitude) cesium_georeference.GetGeoreferenceOriginHeightAttr().Set(height) def _set_camera( self, translate: Gf.Vec3d, rotate: Gf.Vec3f, focal_length: float, horizontal_aperture: float, vertical_aperture: float, ): stage = omni.usd.get_context().get_stage() viewport = get_active_viewport() viewport.set_active_camera(self._camera_path) camera = UsdGeom.Camera.Get(stage, self._camera_path) camera.GetFocalLengthAttr().Set(focal_length) camera.GetHorizontalApertureAttr().Set(horizontal_aperture) camera.GetVerticalApertureAttr().Set(vertical_aperture) xform_common_api = UsdGeom.XformCommonAPI(camera.GetPrim()) xform_common_api.SetTranslate(translate) xform_common_api.SetRotate(rotate, UsdGeom.XformCommonAPI.RotationOrderYXZ) @staticmethod def _get_tileset(path: str) -> CesiumTileset: stage = omni.usd.get_context().get_stage() tileset = CesiumTileset.Get(stage, path) assert tileset.GetPrim().IsValid() return tileset @staticmethod def _get_cesium_data() -> CesiumData: stage = omni.usd.get_context().get_stage() cesium_data = CesiumData.Get(stage, CESIUM_DATA_PRIM_PATH) assert cesium_data.GetPrim().IsValid() return cesium_data @staticmethod def _remove_prim(path: str): stage = omni.usd.get_context().get_stage() stage.RemovePrim(path) def _setup_location_new_york_city(self): self._set_georeference(-74.0060, 40.7128, 50.0) self._set_camera( Gf.Vec3d(-176516.8372437113, 33877.019622553846, 197777.19771945066), Gf.Vec3f(-7.9392824, -37.71652, -6.0970836), 18.14756, 20.955, 15.2908, ) def _setup_location_paris(self): self._set_georeference(2.3522, 48.8566, 100.0) self._set_camera( Gf.Vec3d(-285275.1368718885, 780.3607448845705, 35392.91845506678), Gf.Vec3f(0.46399376, 65.245544, -1.0061567), 18.14756, 20.955, 15.2908, ) def _setup_location_grand_canyon(self): self._set_georeference(-112.3535, 36.2679, 2100.0) self._set_camera( Gf.Vec3d(-339866.7567928189, 27967.440239271935, -59650.894693908194), Gf.Vec3f(5.532731, -129.35608, -6.704948), 18.14756, 20.955, 15.2908, ) def _view_new_york_city(self, _e: carb.events.IEvent): self._logger.warning("View New York City") self._clear_scene() self._setup_location_new_york_city() tileset_path = self._create_tileset_ion("/Cesium_World_Terrain", 1, ION_ACCESS_TOKEN) self._create_raster_overlay_ion( self._get_raster_overlay_path(tileset_path, "Bing_Maps_Aerial_Imagery"), 2, ION_ACCESS_TOKEN, ) self._load_tileset(tileset_path, self._tileset_loaded) def _view_paris(self, _e: carb.events.IEvent): self._logger.warning("View Paris") self._clear_scene() self._setup_location_paris() tileset_path = self._create_tileset_ion("/Cesium_World_Terrain", 1, ION_ACCESS_TOKEN) self._create_raster_overlay_ion( self._get_raster_overlay_path(tileset_path, "Bing_Maps_Aerial_Imagery"), 2, ION_ACCESS_TOKEN, ) self._load_tileset(tileset_path, self._tileset_loaded) def _view_grand_canyon(self, _e: carb.events.IEvent): self._logger.warning("View Grand Canyon") self._clear_scene() self._setup_location_grand_canyon() tileset_path = self._create_tileset_ion("/Cesium_World_Terrain", 1, ION_ACCESS_TOKEN) self._create_raster_overlay_ion( self._get_raster_overlay_path(tileset_path, "Bing_Maps_Aerial_Imagery"), 2, ION_ACCESS_TOKEN, ) self._load_tileset(tileset_path, self._tileset_loaded) def _view_tour(self, _e: carb.events.IEvent): self._logger.warning("View Tour") self._clear_scene() tileset_path = self._create_tileset_ion("/Cesium_World_Terrain", 1, ION_ACCESS_TOKEN) self._create_raster_overlay_ion( self._get_raster_overlay_path(tileset_path, "Bing_Maps_Aerial_Imagery"), 2, ION_ACCESS_TOKEN, ) def tour_stop_0(): self._setup_location_new_york_city() def tour_stop_1(): self._setup_location_paris() def tour_stop_2(): self._setup_location_grand_canyon() tour = Tour(self, [tour_stop_0, tour_stop_1, tour_stop_2], self._tileset_loaded) self._load_tileset(tileset_path, tour.tour_stop_loaded) def _view_new_york_city_google(self, _e: carb.events.IEvent): self._logger.warning("View New York City Google") self._clear_scene() self._setup_location_new_york_city() tileset_path = self._create_tileset_google() self._load_tileset(tileset_path, self._tileset_loaded) def _view_paris_google(self, _e: carb.events.IEvent): self._logger.warning("View Paris Google") self._clear_scene() self._setup_location_paris() tileset_path = self._create_tileset_google() self._load_tileset(tileset_path, self._tileset_loaded) def _view_grand_canyon_google(self, _e: carb.events.IEvent): self._logger.warning("View Grand Canyon Google") self._clear_scene() self._setup_location_grand_canyon() tileset_path = self._create_tileset_google() self._load_tileset(tileset_path, self._tileset_loaded) def _view_tour_google(self, _e: carb.events.IEvent): self._logger.warning("View Tour Google") self._clear_scene() tileset_path = self._create_tileset_google() def tour_stop_0(): self._setup_location_new_york_city() def tour_stop_1(): self._setup_location_paris() def tour_stop_2(): self._setup_location_grand_canyon() tour = Tour(self, [tour_stop_0, tour_stop_1, tour_stop_2], self._tileset_loaded) self._load_tileset(tileset_path, tour.tour_stop_loaded) def _load_tileset(self, tileset_path: str, tileset_loaded: Callable): tileset = self._get_tileset(tileset_path) cesium_data = self._get_cesium_data() assert self._performance_window is not None bus = app.get_app().get_message_bus_event_stream() tileset_loaded_event = carb.events.type_from_string("cesium.omniverse.TILESET_LOADED") self._tileset_loaded_subscription = bus.create_subscription_to_pop_by_type( tileset_loaded_event, tileset_loaded ) random_colors = self._performance_window.get_random_colors() forbid_holes = self._performance_window.get_forbid_holes() frustum_culling = self._performance_window.get_frustum_culling() main_thread_loading_time_limit = self._performance_window.get_main_thread_loading_time_limit_model() cesium_data.GetDebugRandomColorsAttr().Set(random_colors) tileset.GetForbidHolesAttr().Set(forbid_holes) tileset.GetEnableFrustumCullingAttr().Set(frustum_culling) tileset.GetMainThreadLoadingTimeLimitAttr().Set(main_thread_loading_time_limit) self._tileset_path = tileset_path self._active = True self._start_time = time.time() self._fps_sampler.start() def _tileset_loaded(self, _e: carb.events.IEvent): self._stop() duration = self._get_duration() self._update_duration_ui(duration) self._update_fps_mean_ui(self._fps_sampler.get_mean()) self._update_fps_median_ui(self._fps_sampler.get_median()) self._update_fps_low_ui(self._fps_sampler.get_low()) self._update_fps_high_ui(self._fps_sampler.get_high()) self._logger.warning("Loaded in {} seconds".format(duration)) def _get_duration(self) -> float: current_time = time.time() duration = current_time - self._start_time return duration def _update_duration_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_duration(value) def _update_fps_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_fps(value) def _update_fps_mean_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_fps_mean(value) def _update_fps_median_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_fps_median(value) def _update_fps_low_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_fps_low(value) def _update_fps_high_ui(self, value: float): if self._performance_window is not None: self._performance_window.set_fps_high(value) def _clear_scene(self): self._stop() self._update_duration_ui(0.0) self._update_fps_ui(0.0) self._update_fps_mean_ui(0.0) self._update_fps_median_ui(0.0) self._update_fps_low_ui(0.0) self._update_fps_high_ui(0.0) if self._tileset_path is not None: self._remove_prim(self._tileset_path) def _on_stop(self, _e: carb.events.IEvent): self._stop() def _stop(self): self._active = False self._fps_sampler.stop() if self._tileset_loaded_subscription is not None: self._tileset_loaded_subscription.unsubscribe() self._tileset_loaded_subscription = None class Tour: def __init__(self, ext: CesiumPerformanceExtension, tour_stops: List[Callable], tour_complete: Callable): self._ext: CesiumPerformanceExtension = ext self._tour_stops: List[Callable] = tour_stops self._tour_complete: Callable = tour_complete self._current_stop: int = 0 self._duration: float = 0.0 assert len(tour_stops) > 0 tour_stops[0]() def tour_stop_loaded(self, _e: carb.events.IEvent): duration = self._ext._get_duration() current_duration = duration - self._duration self._duration = duration self._ext._logger.warning("Tour stop {} loaded in {} seconds".format(self._current_stop, current_duration)) if self._current_stop == len(self._tour_stops) - 1: self._tour_complete(_e) else: self._current_stop += 1 self._tour_stops[self._current_stop]()

Python

CesiumGS/cesium-omniverse/apps/exts/cesium.performance.app/cesium/performance/app/performance_window.py

import logging import carb.events import omni.kit.app as app import omni.ui as ui from cesium.omniverse.bindings import ICesiumOmniverseInterface RANDOM_COLORS_TEXT = "Random colors" FORBID_HOLES_TEXT = "Forbid holes" FRUSTUM_CULLING_TEXT = "Frustum culling" TRACING_ENABLED_TEXT = "Tracing enabled" MAIN_THREAD_LOADING_TIME_LIMIT_TEXT = "Main thread loading time limit (ms)" NEW_YORK_CITY_TEXT = "New York City" PARIS_TEXT = "Paris" GRAND_CANYON_TEXT = "Grand Canyon" TOUR_TEXT = "Tour" NEW_YORK_CITY_GOOGLE_TEXT = "New York City (Google)" PARIS_GOOGLE_TEXT = "Paris (Google)" GRAND_CANYON_GOOGLE_TEXT = "Grand Canyon (Google)" TOUR_GOOGLE_TEXT = "Tour (Google)" DURATION_TEXT = "Duration (seconds)" FPS_TEXT = "FPS" FPS_MEAN_TEXT = "FPS (mean)" FPS_MEDIAN_TEXT = "FPS (median)" FPS_LOW_TEXT = "FPS (low)" FPS_HIGH_TEXT = "FPS (high)" class CesiumPerformanceWindow(ui.Window): WINDOW_NAME = "Cesium Performance Testing" MENU_PATH = f"Window/Cesium/{WINDOW_NAME}" def __init__(self, cesium_omniverse_interface: ICesiumOmniverseInterface, **kwargs): super().__init__(CesiumPerformanceWindow.WINDOW_NAME, **kwargs) self._cesium_omniverse_interface = cesium_omniverse_interface self._logger = logging.getLogger(__name__) self._random_colors_checkbox_model = ui.SimpleBoolModel(False) self._forbid_holes_checkbox_model = ui.SimpleBoolModel(False) self._frustum_culling_checkbox_model = ui.SimpleBoolModel(True) self._main_thread_loading_time_limit_model = ui.SimpleFloatModel(0.0) self._duration_model = ui.SimpleFloatModel(0.0) self._fps_model = ui.SimpleFloatModel(0.0) self._fps_mean_model = ui.SimpleFloatModel(0.0) self._fps_median_model = ui.SimpleFloatModel(0.0) self._fps_low_model = ui.SimpleFloatModel(0.0) self._fps_high_model = ui.SimpleFloatModel(0.0) self.frame.set_build_fn(self._build_fn) def destroy(self) -> None: super().destroy() def _build_fn(self): with ui.VStack(spacing=10): with ui.VStack(spacing=4): with ui.HStack(height=16): ui.Label("Options", height=0) ui.Spacer() for label, model in [ (RANDOM_COLORS_TEXT, self._random_colors_checkbox_model), (FORBID_HOLES_TEXT, self._forbid_holes_checkbox_model), (FRUSTUM_CULLING_TEXT, self._frustum_culling_checkbox_model), ]: with ui.HStack(height=0): ui.Label(label, height=0) ui.CheckBox(model) with ui.HStack(height=0): ui.Label(MAIN_THREAD_LOADING_TIME_LIMIT_TEXT, height=0) ui.StringField(self._main_thread_loading_time_limit_model) with ui.HStack(height=16): tracing_label = ui.Label(TRACING_ENABLED_TEXT, height=0) tracing_label.set_tooltip( "Enabled when the project is configured with -D CESIUM_OMNI_ENABLE_TRACING=ON" ) enabled_string = "ON" if self._cesium_omniverse_interface.is_tracing_enabled() else "OFF" ui.Label(enabled_string, height=0) with ui.VStack(spacing=0): ui.Label("Scenarios", height=16) for label, callback in [ (NEW_YORK_CITY_TEXT, self._view_new_york_city), (PARIS_TEXT, self._view_paris), (GRAND_CANYON_TEXT, self._view_grand_canyon), (TOUR_TEXT, self._view_tour), (NEW_YORK_CITY_GOOGLE_TEXT, self._view_new_york_city_google), (PARIS_GOOGLE_TEXT, self._view_paris_google), (GRAND_CANYON_GOOGLE_TEXT, self._view_grand_canyon_google), (TOUR_GOOGLE_TEXT, self._view_tour_google), ]: ui.Button(label, height=20, clicked_fn=callback) with ui.VStack(spacing=4): with ui.HStack(height=16): ui.Label("Stats", height=0) ui.Spacer() for label, model in [ (DURATION_TEXT, self._duration_model), (FPS_TEXT, self._fps_model), (FPS_MEAN_TEXT, self._fps_mean_model), (FPS_MEDIAN_TEXT, self._fps_median_model), (FPS_LOW_TEXT, self._fps_low_model), (FPS_HIGH_TEXT, self._fps_high_model), ]: with ui.HStack(height=0): ui.Label(label, height=0) ui.StringField(model=model, height=0, read_only=True) with ui.VStack(spacing=0): ui.Button("Stop", height=16, clicked_fn=self._stop) def _view_new_york_city(self): bus = app.get_app().get_message_bus_event_stream() view_new_york_city_event = carb.events.type_from_string("cesium.performance.VIEW_NEW_YORK_CITY") bus.push(view_new_york_city_event) def _view_paris(self): bus = app.get_app().get_message_bus_event_stream() view_paris_event = carb.events.type_from_string("cesium.performance.VIEW_PARIS") bus.push(view_paris_event) def _view_grand_canyon(self): bus = app.get_app().get_message_bus_event_stream() view_grand_canyon_event = carb.events.type_from_string("cesium.performance.VIEW_GRAND_CANYON") bus.push(view_grand_canyon_event) def _view_tour(self): bus = app.get_app().get_message_bus_event_stream() view_tour_event = carb.events.type_from_string("cesium.performance.VIEW_TOUR") bus.push(view_tour_event) def _view_new_york_city_google(self): bus = app.get_app().get_message_bus_event_stream() view_new_york_city_google_event = carb.events.type_from_string("cesium.performance.VIEW_NEW_YORK_CITY_GOOGLE") bus.push(view_new_york_city_google_event) def _view_paris_google(self): bus = app.get_app().get_message_bus_event_stream() view_paris_google_event = carb.events.type_from_string("cesium.performance.VIEW_PARIS_GOOGLE") bus.push(view_paris_google_event) def _view_grand_canyon_google(self): bus = app.get_app().get_message_bus_event_stream() view_grand_canyon_google_event = carb.events.type_from_string("cesium.performance.VIEW_GRAND_CANYON_GOOGLE") bus.push(view_grand_canyon_google_event) def _view_tour_google(self): bus = app.get_app().get_message_bus_event_stream() view_tour_google_event = carb.events.type_from_string("cesium.performance.VIEW_TOUR_GOOGLE") bus.push(view_tour_google_event) def _stop(self): bus = app.get_app().get_message_bus_event_stream() stop_event = carb.events.type_from_string("cesium.performance.STOP") bus.push(stop_event) def get_random_colors(self) -> bool: return self._random_colors_checkbox_model.get_value_as_bool() def get_forbid_holes(self) -> bool: return self._forbid_holes_checkbox_model.get_value_as_bool() def get_frustum_culling(self) -> bool: return self._frustum_culling_checkbox_model.get_value_as_bool() def get_main_thread_loading_time_limit_model(self) -> float: return self._main_thread_loading_time_limit_model.get_value_as_float() def set_duration(self, value: float): self._duration_model.set_value(value) def set_fps(self, value: float): self._fps_model.set_value(value) def set_fps_mean(self, value: float): self._fps_mean_model.set_value(value) def set_fps_median(self, value: float): self._fps_median_model.set_value(value) def set_fps_low(self, value: float): self._fps_low_model.set_value(value) def set_fps_high(self, value: float): self._fps_high_model.set_value(value)

Python

CesiumGS/cesium-omniverse/apps/exts/cesium.performance.app/cesium/performance/app/fps_sampler.py

import array import time import carb.events import omni.kit.app as app import statistics from omni.kit.viewport.utility import get_active_viewport FREQUENCY_IN_SECONDS: float = 0.025 class FpsSampler: def __init__( self, ): self._last_time: float = 0.0 self._active: bool = False self._fps = 0.0 self._samples = array.array("f") self._median: float = 0.0 self._mean: float = 0.0 self._low: float = 0.0 self._high: float = 0.0 self._viewport = get_active_viewport() update_stream = app.get_app().get_update_event_stream() self._update_frame_subscription = update_stream.create_subscription_to_pop( self._on_update_frame, name="cesium.performance.ON_UPDATE_FRAME" ) def __del__(self): self.destroy() def destroy(self): if self._update_frame_subscription is not None: self._update_frame_subscription.unsubscribe() self._update_frame_subscription = None def start(self): self._last_time = time.time() self._active = True def stop(self): self._active = False if len(self._samples) > 0: self._mean = statistics.mean(self._samples) self._median = statistics.median(self._samples) self._low = min(self._samples) self._high = max(self._samples) self._samples = array.array("f") def get_mean(self): assert not self._active return self._mean def get_median(self): assert not self._active return self._median def get_low(self): assert not self._active return self._low def get_high(self): assert not self._active return self._high def get_fps(self): assert self._active return self._fps def _on_update_frame(self, _e: carb.events.IEvent): if not self._active: return current_time = time.time() elapsed = current_time - self._last_time if elapsed > FREQUENCY_IN_SECONDS: fps = self._viewport.fps self._samples.append(fps) self._last_time = current_time self._fps = fps

Python

CesiumGS/cesium-omniverse/apps/exts/cesium.performance.app/config/extension.toml

[package] title = "Cesium for Omniverse Performance Testing Extension" version = "0.0.0" app = false toggleable = false [dependencies] "cesium.omniverse" = {} [[python.module]] name = "cesium.performance.app"

TOML

CesiumGS/cesium-omniverse/scripts/copy_to_exts.py

""" This file is a post build step run by cmake that copies over the CHANGES.md and related resources to the exts/docs folder for packaging. """ import re import shutil from dataclasses import dataclass from pathlib import Path from typing import List @dataclass class PathPair: """ Represents a source and relative destination pair. :arg source: The source path for the file. :arg relative_destination: The relative destination for the file. """ source: Path relative_destination: str = "" def find_resources(path: Path) -> List[PathPair]: """ Finds all resources within a file and returns them as a list of PathPairs. The search is done using a regular expression looking for all links that contain the substring "docs/resources". NOTE: This **only** works with relative paths. Absolute paths in the file read will fail. :param path: The file to search. :return: A list containing PathPairs of all resources found in the file. """ regex = re.compile(r"!\[.*]\((.*docs/(resources.*?))\)") root_path = path.parent.resolve() resources: List[PathPair] = [] with open(path.resolve(), "r") as f: for line in f.readlines(): match = regex.search(line) if match is not None: source = root_path.joinpath(match.group(1)) relative_destination = match.group(2) resources.append(PathPair(source, relative_destination)) return resources def copy_to_destination(pair: PathPair, destination: Path) -> None: """ Copies the file based on the path and relative destination contained in the pair. NOTE: This uses shutils so if you're on a version of Python older than 3.8 this will be slow. :param pair: The PathPair for the copy operation. :param destination: The path of the destination directory. """ true_destination = ( destination.joinpath(pair.relative_destination) if pair.relative_destination != "" else destination ) # In the event that true_destination isn't a direct file path, we need to take the source filename and append it # to true_destination. if true_destination.is_dir(): true_destination = true_destination.joinpath(pair.source.name) true_destination.parent.mkdir(parents=True, exist_ok=True) shutil.copyfile(pair.source, true_destination) def main() -> int: project_root = Path(__file__).parent.parent destination = project_root.joinpath("exts/cesium.omniverse/doc") changes_path = project_root.joinpath("CHANGES.md") try: # Turning off formatting here for readability. # fmt: off paths_to_copy: List[PathPair] = [ PathPair(changes_path), *find_resources(changes_path) ] # fmt: on for pair in paths_to_copy: copy_to_destination(pair, destination) except Exception as e: print(e) return 1 return 0 exit(main())

Python

CesiumGS/cesium-omniverse/scripts/vscode_build.py

#!/usr/bin/env python3 import sys import subprocess import multiprocessing import os import platform import shutil try: import pty except Exception: pass import webbrowser from typing import List, NamedTuple def is_windows(): return platform.system() == "Windows" def is_linux(): return platform.system() == "Linux" def process(cmd: List[str]): print("Run: " + " ".join(cmd)) if is_linux(): # Using pty instead of subprocess to get terminal colors result = pty.spawn(cmd) if result != 0: sys.exit(result) else: p = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True) for line in p.stdout: print(line, end="") p.communicate() if p.returncode != 0: raise subprocess.CalledProcessError(p.returncode, p.args) def open_browser(html: str): html = os.path.realpath(html) html = "file://{}".format(html) webbrowser.open(html, new=2) class Args(NamedTuple): task: str build_folder: str build_type: str compiler_name: str tracing: bool verbose: bool kit_debug: bool parallel: bool build_only: bool def c_compiler_to_cpp_compiler(compiler_name: str): cpp = compiler_name cpp = cpp.replace("gcc", "g++") cpp = cpp.replace("clang", "clang++") return cpp def get_cmake_configure_command(args: Args): cmd = ["cmake", "-B", args.build_folder] # Release is the default build type, so no need to pass CMAKE_BUILD_TYPE if args.build_type != "Release": cmd.extend(("-D", "CMAKE_BUILD_TYPE={}".format(args.build_type))) if args.tracing: cmd.extend(("-D", "CESIUM_OMNI_ENABLE_TRACING=ON")) if args.kit_debug: cmd.extend(("-D", "CESIUM_OMNI_USE_NVIDIA_DEBUG_LIBRARIES=ON")) if is_windows(): cmd.extend(("-G", "Ninja Multi-Config", "-D", "CMAKE_C_COMPILER=cl", "-D", "CMAKE_CXX_COMPILER=cl")) return cmd if args.compiler_name == "default": return cmd c_compiler = args.compiler_name cpp_compiler = c_compiler_to_cpp_compiler(args.compiler_name) cmd.extend(("-D", "CMAKE_C_COMPILER={}".format(c_compiler))) cmd.extend(("-D", "CMAKE_CXX_COMPILER={}".format(cpp_compiler))) return cmd def get_cmake_build_command(args: Args, target: str): cmd = ["cmake", "--build", args.build_folder] if is_windows(): cmd.extend(("--config", args.build_type)) if target: cmd.extend(("--target", target)) if args.verbose: cmd.append("--verbose") if args.parallel: # use every core except one so that computer doesn't go too slow cores = max(1, multiprocessing.cpu_count() - 1) cmd.extend(("--parallel", str(cores))) return cmd def get_cmake_install_command(args: Args): cmd = ["cmake", "--install", args.build_folder] if is_windows(): cmd.extend(("--config", args.build_type)) return cmd def configure(args: Args): configure_cmd = get_cmake_configure_command(args) process(configure_cmd) def build(args: Args): build_cmd = get_cmake_build_command(args, None) install_kit_cmd = get_cmake_install_command(args) if not args.build_only: configure_cmd = get_cmake_configure_command(args) process(configure_cmd) process(build_cmd) process(install_kit_cmd) def coverage(args: Args): if is_windows(): print("Coverage is not supported for Windows") return configure_cmd = get_cmake_configure_command(args) build_cmd = get_cmake_build_command(args, "generate-coverage") html = "{}/coverage/index.html".format(args.build_folder) process(configure_cmd) process(build_cmd) open_browser(html) def documentation(args: Args): configure_cmd = get_cmake_configure_command(args) documentation_cmd = get_cmake_build_command(args, "generate-documentation") html = "{}/docs/html/index.html".format(args.build_folder) process(configure_cmd) process(documentation_cmd) open_browser(html) def install(args: Args): configure_cmd = get_cmake_configure_command(args) install_cmd = get_cmake_build_command(args, "install") process(configure_cmd) process(install_cmd) def clean(args: Args): if os.path.exists(args.build_folder) and os.path.isdir(args.build_folder): shutil.rmtree(args.build_folder) def format(args: Args): format_cmd = get_cmake_build_command(args, "clang-format-fix-all") process(format_cmd) def lint(args: Args): clang_tidy_cmd = get_cmake_build_command(args, "clang-tidy") process(clang_tidy_cmd) def lint_fix(args: Args): clang_tidy_cmd = get_cmake_build_command(args, "clang-tidy-fix") process(clang_tidy_cmd) def dependency_graph(args: Args): configure_cmd = get_cmake_configure_command(args) conan_packages_path = os.path.join(args.build_folder, "Conan_Packages") dependency_html = os.path.join(args.build_folder, "dependency_graph.html") dependency_cmd = ["conan", "info", args.build_folder, "-if", conan_packages_path, "--graph", dependency_html] process(configure_cmd) process(dependency_cmd) open_browser(dependency_html) def get_build_folder_name(build_type: str, compiler_name: str): folder_name = "build" if is_windows(): return folder_name if build_type != "Release": folder_name += "-{}".format(build_type.lower()) if compiler_name != "default": folder_name += "-{}".format(compiler_name) return folder_name def get_bin_folder_name(build_type: str, compiler_name: str): build_folder_name = get_build_folder_name(build_type, compiler_name) if is_windows(): bin_folder_name = "{}/bin/{}".format(build_folder_name, build_type) else: bin_folder_name = "{}/bin".format(build_folder_name) return bin_folder_name def main(av: List[str]): print(av) task = av[0] build_type = av[1] if len(av) >= 2 else "Release" compiler_name = av[2] if len(av) >= 3 else "default" build_folder = get_build_folder_name(build_type, compiler_name) tracing = True if len(av) >= 4 and av[3] == "--tracing" else False verbose = True if len(av) >= 4 and av[3] == "--verbose" else False kit_debug = True if len(av) >= 4 and av[3] == "--kit-debug" else False parallel = False if len(av) >= 5 and av[4] == "--no-parallel" else True build_only = True if len(av) >= 4 and av[3] == "--build-only" else False args = Args(task, build_folder, build_type, compiler_name, tracing, verbose, kit_debug, parallel, build_only) if task == "configure": configure(args) elif task == "build": build(args) elif task == "clean": clean(args) elif task == "coverage": coverage(args) elif task == "documentation": documentation(args) elif task == "install": install(args) elif task == "format": format(args) elif task == "lint": lint(args) elif task == "lint-fix": lint_fix(args) elif task == "dependency-graph": dependency_graph(args) if __name__ == "__main__": try: main(sys.argv[1:]) except Exception as e: print(e) exit(1)

Python

CesiumGS/cesium-omniverse/scripts/clang_tidy.py

#!/usr/bin/env python3 import argparse import sys import shutil from utils import utils from typing import List def parse_args(av: List[str]): parser = argparse.ArgumentParser(description="Run / check clang-tidy on staged cpp files.") parser.add_argument( "--clang-tidy-executable", help="Specific clang-tidy binary to use.", action="store", required=False ) return parser.parse_known_args(av) def main(av: List[str]): known_args, clang_tidy_args = parse_args(av) project_root = utils.get_project_root() clang_tidy_executable = known_args.clang_tidy_executable if not clang_tidy_executable: clang_tidy_executable = shutil.which("clang-tidy") project_root = utils.get_project_root() candidate_files = [ f.as_posix() for f in utils.get_staged_git_files(project_root) if f.suffix in utils.CPP_EXTENSIONS ] cmd = [clang_tidy_executable] + clang_tidy_args + candidate_files if len(candidate_files) > 0: print("Running clang-tidy") utils.run_command_and_echo_on_error(cmd) else: print("Skipping clang-tidy (no cpp files staged)") if __name__ == "__main__": main(sys.argv[1:])

Python

CesiumGS/cesium-omniverse/scripts/update_certs.py

#! /usr/bin/python3 """ Intended to be called in the This script updates the certificates used for any requests that use the core Context class. While some certs are available on the system, they may not be consistent or updated. This ensures all certs are uniform and up to date see: https://github.com/CesiumGS/cesium-omniverse/issues/306 """ import requests import sys import os def main(): # --- establish source/destination for certs --- if len(sys.argv) < 2: print("must provide a filepath for the updated certs") return -1 CERT_URL = "https://curl.se/ca/cacert.pem" CERT_FILE_PATH = sys.argv[1] # --- ensure directory structure exists ---- os.makedirs(os.path.dirname(CERT_FILE_PATH), exist_ok=True) # --- fetch and write the cert file ---- req = requests.get(CERT_URL) if req.status_code != 200: print(f"failed to fetch certificates from {CERT_URL}") return -1 # explicit encoding is required for windows with open(CERT_FILE_PATH, "w", encoding="utf-8") as f: f.write(req.text) return 0 if __name__ == "__main__": sys.exit(main())

Python

CesiumGS/cesium-omniverse/scripts/generate_third_party_license_json.py

#!/usr/bin/env python3 import json import os import shlex import subprocess import argparse from typing import List import sys from pathlib import Path def main(argv: List[str]): args = parse_args(argv) project_dir = args.project_dir build_dir = args.build_dir libraries_to_skip = args.skip.split(',') cmd = "conan info {} -if {} -j".format(build_dir, os.path.join(build_dir, 'Conan_Packages')) cmd = shlex.split(cmd, posix=(os.name == 'posix')) try: output = subprocess.check_output(cmd).decode('utf-8') json_output = output.split(os.linesep, 2)[1] third_party_json = json.loads(json_output) except subprocess.CalledProcessError as error: cmd_string = ' '.join(error.cmd) raise RuntimeError('Conan command \'{}\' failed with error {}. Third party JSON creation aborted.' .format(cmd_string, error.returncode)) third_party_json = generate_conan_third_party_json( third_party_json, libraries_to_skip) third_party_extra_json = json.loads(Path(project_dir).joinpath( 'ThirdParty.extra.json').read_text()) # Handle ThirdParty.extra.json for element in third_party_extra_json: if 'override' in element: found_match = False for match in third_party_json: if match['name'] == element['name']: found_match = True break if found_match: del element['override'] third_party_json.remove(match) combined = {**match, **element} third_party_json.append(combined) else: raise RuntimeError('Could not find library to override: \'{}\'. Third party JSON creation aborted.' .format(element.name)) else: third_party_json.append(element) third_party_json.sort(key=lambda obj: obj['name'].lower()) third_party_json_path = os.path.join(project_dir, 'ThirdParty.json') with open(third_party_json_path, 'w', newline='\n') as json_file: json.dump(third_party_json, json_file, indent=4) json_file.write('\n') def parse_args(argv: List[str]): parser = argparse.ArgumentParser( description='Create third party license json from Conan info and ThirdParty.extra.json.' ) parser.add_argument('--project-dir', help='The project directory.', action='store', required='true' ) parser.add_argument('--build-dir', help='The CMake build directory. From CMake variable PROJECT_BINARY_DIR.', action='store', required='true' ) parser.add_argument('--skip', help='Comma separated list of libraries to skip.', action='store', ) return parser.parse_args(argv) def generate_conan_third_party_json(third_party_json, libraries_to_skip): result = [] for library in third_party_json: # skip the `conanfile` object, as its NOT a real third party library if library['reference'] == 'conanfile.txt': continue display_name = library['display_name'] url = library['homepage'] license = library['license'] licenses = [] for lc in license: licenses.extend(lc.split(', ')) display_name_pieces = display_name.split('/') name = display_name_pieces[0] version = display_name_pieces[1] # skip libraries that aren't included in the executable if name in libraries_to_skip: continue result.append({ 'name': name, 'license': licenses, 'version': version, 'url': url }) return result if __name__ == '__main__': main(sys.argv[1:])

Python

CesiumGS/cesium-omniverse/scripts/clang_format.py

#!/usr/bin/env python3 import argparse import sys import subprocess import shutil import shlex from utils import utils from pathlib import Path from typing import List def clang_format_on_path(clang_format_binary: str, absolute_path: Path) -> str: cmd = "{} -style=file {}".format(shlex.quote(clang_format_binary), shlex.quote(str(absolute_path))) cmd = shlex.split(cmd) result = subprocess.check_output(cmd) return result.decode("utf-8", "replace") def clang_format_in_place(clang_format_binary: str, absolute_path: Path): cmd = "{} -style=file -i {}".format(shlex.quote(clang_format_binary), shlex.quote(str(absolute_path))) cmd = shlex.split(cmd) subprocess.check_output(cmd) def parse_args(av: List[str]): parser = argparse.ArgumentParser(description="Run / check clang-formatting.") parser.add_argument( "--clang-format-executable", help="Specific clang-format binary to use.", action="store", required=False ) parser.add_argument( "--source-directories", help='Directories (relative to project root) to recursively scan for cpp files (e.g "src", "include"...)', nargs="+", required=True, ) run_type = parser.add_mutually_exclusive_group(required=True) run_type.add_argument( "--fix", help="Apply clang-format formatting to source in-place (destructive)", action="store_true" ) run_type.add_argument("--check", help="Check if source matches clang-format rules", action="store_true") scope_type = parser.add_mutually_exclusive_group(required=True) scope_type.add_argument("--all", help="Process all valid source files.", action="store_true") scope_type.add_argument("--staged", help="Process only staged source files.", action="store_true") return parser.parse_args(av) def main(av: List[str]): if not shutil.which("git"): raise RuntimeError("Could not find git in path") project_root_directory = utils.get_project_root() args = parse_args(av) # Use user provided clang_format binary if provided clang_format_binary = args.clang_format_executable if clang_format_binary: clang_format_binary = shutil.which(clang_format_binary) if not clang_format_binary: clang_format_binary = shutil.which("clang-format") if not clang_format_binary: raise RuntimeError("Could not find clang-format in system path") mode = "all" if args.all else "staged" source_directories = args.source_directories # Generate list of source_files to check / fix. source_files: List[utils.SourceFile] = utils.get_source_files(source_directories, args.all) failed_files: List[utils.FailedFile] = [] # Fix or check formatting for each file for src in source_files: absolute_path = project_root_directory.joinpath(src.relative_path) if args.check: old_text = ( absolute_path.read_text(encoding="utf-8") if not src.staged else utils.get_staged_file_text(src.relative_path) ) new_text = clang_format_on_path(clang_format_binary, absolute_path) diff = utils.unidiff_output(old_text, new_text) if diff != "": failed_files.append(utils.FailedFile(src.relative_path, diff)) else: clang_format_in_place(clang_format_binary, absolute_path) if len(source_files) == 0: print("clang-format ({} files): No files found, nothing to do.".format(mode)) sys.exit(0) if args.fix: print("Ran clang-format -style=file -i on {} files".format(mode)) sys.exit(0) if len(failed_files) == 0: print("clang-format ({} files) passes.".format(mode)) sys.exit(0) print("clang-format ({} files) failed on the following files: ".format(mode)) for failure in failed_files: print("{}".format(failure.relative_path)) print(failure.diff) sys.exit(len(failed_files)) if __name__ == "__main__": main(sys.argv[1:])

Python

CesiumGS/cesium-omniverse/scripts/copy_from_dir.py

import sys from pathlib import Path from shutil import copy2 # Broken out for formatting reasons, since tabs within HEREDOCs will be output. usage_message = """Invalid arguments. Usage: copy_from_dir.py <glob-pattern> <source-dir-path> <destination-dir-path> Please fix your command and try again. """ def main(): if len(sys.argv) < 4: print(usage_message) return 1 glob_pattern: str = sys.argv[1] source_dir = Path(sys.argv[2]).resolve() dest_dir = Path(sys.argv[3]).resolve() print(f'Performing file copy with glob pattern "{glob_pattern}"') print(f"\tSource: {source_dir}") print(f"\tDestination: {dest_dir}\n") source_files = source_dir.glob(glob_pattern) for f in source_files: source_path = source_dir / f copy2(source_path, dest_dir, follow_symlinks=True) print(f"Copied {source_path}") return 0 if __name__ == "__main__": sys.exit(main())

Python

CesiumGS/cesium-omniverse/scripts/utils/utils.py

#!/usr/bin/env python3 import subprocess import shlex import os import glob import sys from pathlib import Path from typing import List, NamedTuple, Set import difflib CPP_EXTENSIONS = [".cpp", ".h", ".cxx", ".hxx", ".hpp", ".cc", ".inl"] def get_project_root() -> Path: try: cmd = shlex.split('git rev-parse --show-toplevel') output = subprocess.check_output( cmd).strip().decode('utf-8', 'replace') return Path(output) except subprocess.CalledProcessError: raise RuntimeError('command must be ran inside .git repo') def get_staged_git_files(project_root: Path) -> List[Path]: cmd = shlex.split("git diff --cached --name-only --diff-filter=ACMRT") paths = subprocess.check_output(cmd).decode('utf-8').splitlines() return [project_root.joinpath(p) for p in paths] def get_cmake_build_directory(project_root: Path): glob_pattern = project_root.joinpath("**/CMakeCache.txt").as_posix() results = glob.glob(glob_pattern, recursive=True) if len(results) == 0: err = "Could not find CMakeCache.txt in {}. Generate CMake configuration first.".format( project_root) raise RuntimeError(err) cmake_build_directory = os.path.realpath( os.path.join(project_root, results[0], "..")) return cmake_build_directory def run_cmake_target(cmake_build_directory, target): path = shlex.quote(cmake_build_directory) cmd = shlex.split("cmake --build {} --target {}".format(path, target)) run_command_and_echo_on_error(cmd) def run_command_and_echo_on_error(cmd: List[str]): try: subprocess.run(cmd, check=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT) except subprocess.CalledProcessError as e: print("Command \"{}\" failed:".format(' '.join(cmd))) print(e.output.decode('utf-8')) sys.exit(1) class SourceFile(NamedTuple): relative_path: Path staged: bool class FailedFile(NamedTuple): relative_path: Path diff: str def get_source_files(source_directories: List[str], modeIsAll: bool) -> List[SourceFile]: project_root = get_project_root() staged_rel_paths = get_staged_rel_paths() source_files = [] for directory in source_directories: for extension in CPP_EXTENSIONS: glob_pattern = os.path.join( project_root, directory, "**/*" + extension) glob_results = glob.glob(glob_pattern, recursive=True) for abs_path in glob_results: rel_path = Path(abs_path).relative_to(project_root) source_files.append(SourceFile( rel_path, rel_path in staged_rel_paths)) return list(filter(lambda source_file: source_file.staged or modeIsAll, source_files)) def get_staged_rel_paths() -> Set[str]: cmd = shlex.split("git diff --cached --name-only --diff-filter=ACMRT") staged_rel_paths = subprocess.check_output(cmd) staged_rel_paths = staged_rel_paths.decode('utf-8', 'replace') return set([Path(path) for path in staged_rel_paths.splitlines()]) def get_staged_file_text(relative_path: Path) -> str: cmd = "git show :{}".format(shlex.quote(str(relative_path.as_posix()))) cmd = shlex.split(cmd) output = subprocess.check_output(cmd).decode('utf-8', 'replace') return output COLOR_SUPPORT = False try: import colorama colorama.init() COLOR_SUPPORT = True def color_diff(diff): for line in diff: if line.startswith('+'): yield colorama.Fore.GREEN + line + colorama.Fore.RESET elif line.startswith('-'): yield colorama.Fore.RED + line + colorama.Fore.RESET elif line.startswith('^'): yield colorama.Fore.BLUE + line + colorama.Fore.RESET else: yield line except ImportError: pass def unidiff_output(expected: str, actual: str): expected = expected.splitlines(1) actual = actual.splitlines(1) diff = difflib.unified_diff(expected, actual) if COLOR_SUPPORT: diff = color_diff(diff) return ''.join(diff)

Python

CesiumGS/cesium-omniverse/include/cesium/omniverse/CesiumOmniverse.h

#pragma once #include "cesium/omniverse/AssetTroubleshootingDetails.h" #include "cesium/omniverse/RenderStatistics.h" #include "cesium/omniverse/SetDefaultTokenResult.h" #include "cesium/omniverse/TokenTroubleshootingDetails.h" #include <carb/Interface.h> #include <cstdint> #include <memory> #include <optional> #include <vector> namespace cesium::omniverse { class CesiumIonSession; struct ViewportApi { double viewMatrix[16]; // NOLINT(modernize-avoid-c-arrays) double projMatrix[16]; // NOLINT(modernize-avoid-c-arrays) double width; double height; }; class ICesiumOmniverseInterface { public: CARB_PLUGIN_INTERFACE("cesium::omniverse::ICesiumOmniverseInterface", 0, 0); /** * @brief Call this on extension startup. * * @param cesiumExtensionLocation Path to the Cesium Omniverse extension location. */ virtual void onStartup(const char* cesiumExtensionLocation) noexcept = 0; /** * @brief Call this on extension shutdown. */ virtual void onShutdown() noexcept = 0; /** * @brief Reloads a tileset. * * @param tilesetPath The tileset sdf path. If there's no tileset with this path nothing happens. */ virtual void reloadTileset(const char* tilesetPath) noexcept = 0; /** * @brief Updates all tilesets this frame. * * @param viewports The viewports. * @param count The number of viewports. * @param waitForLoadingTiles Whether to wait for all tiles to load before continuing. */ virtual void onUpdateFrame(const ViewportApi* viewports, uint64_t count, bool waitForLoadingTiles) noexcept = 0; /** * @brief Updates the reference to the USD stage for the C++ layer. * * @param stageId The id of the current stage. */ virtual void onUsdStageChanged(long stageId) noexcept = 0; /** * @brief Connects to Cesium ion. */ virtual void connectToIon() noexcept = 0; /** * @brief Gets the active Cesium ion session. */ virtual std::optional<std::shared_ptr<CesiumIonSession>> getSession() noexcept = 0; /** * @brief Get the path of the active Cesium ion server. */ virtual std::string getServerPath() noexcept = 0; /** * @brief Gets all Cesium ion sessions. */ virtual std::vector<std::shared_ptr<CesiumIonSession>> getSessions() noexcept = 0; /** * @brief Get all Cesium ion server paths. */ virtual std::vector<std::string> getServerPaths() noexcept = 0; /** * @brief Gets the last result with code and message of setting the default token. * * @return A struct with a code and message. 0 is successful. */ virtual SetDefaultTokenResult getSetDefaultTokenResult() noexcept = 0; /** * @brief Boolean to check if the default token is set. * * @return True if the default token is set. */ virtual bool isDefaultTokenSet() noexcept = 0; /** * @brief Creates a new token using the specified name. * * @param name The name for the new token. */ virtual void createToken(const char* name) noexcept = 0; /** * @brief Selects an existing token associated with the logged in account. * * @param id The ID of the selected token. */ virtual void selectToken(const char* id, const char* token) noexcept = 0; /** * @brief Used for the specify token action by the set project default token window. * * @param token The desired token. */ virtual void specifyToken(const char* token) noexcept = 0; virtual std::optional<AssetTroubleshootingDetails> getAssetTroubleshootingDetails() noexcept = 0; virtual std::optional<TokenTroubleshootingDetails> getAssetTokenTroubleshootingDetails() noexcept = 0; virtual std::optional<TokenTroubleshootingDetails> getDefaultTokenTroubleshootingDetails() noexcept = 0; virtual void updateTroubleshootingDetails( const char* tilesetPath, int64_t tilesetIonAssetId, uint64_t tokenEventId, uint64_t assetEventId) noexcept = 0; virtual void updateTroubleshootingDetails( const char* tilesetPath, int64_t tilesetIonAssetId, int64_t rasterOverlayIonAssetId, uint64_t tokenEventId, uint64_t assetEventId) noexcept = 0; /** * @brief Prints the Fabric stage. For debugging only. * * @returns A string representation of the Fabric stage. */ virtual std::string printFabricStage() noexcept = 0; /** * @brief Get render statistics. For debugging only. * * @returns Object containing render statistics. */ virtual RenderStatistics getRenderStatistics() noexcept = 0; virtual bool creditsAvailable() noexcept = 0; virtual std::vector<std::pair<std::string, bool>> getCredits() noexcept = 0; virtual void creditsStartNextFrame() noexcept = 0; virtual bool isTracingEnabled() noexcept = 0; /** * @brief Clear the asset accessor cache. */ virtual void clearAccessorCache() = 0; }; } // namespace cesium::omniverse

C

CesiumGS/cesium-omniverse/tests/src/ExampleTests.cpp

/* * A collection of simple tests to demonstrate Doctest */ #include "testUtils.h" #include <doctest/doctest.h> #include <array> #include <cstdint> #include <iostream> #include <list> #include <stdexcept> #include <vector> #include <yaml-cpp/yaml.h> const std::string CONFIG_PATH = "tests/configs/exampleConfig.yaml"; // Test Suites are not required, but this sort of grouping makes it possible // to select which tests do/don't run via command line options TEST_SUITE("Example Tests") { // ---------------------------------------------- // Basic Tests // ---------------------------------------------- TEST_CASE("The most basic test") { CHECK(1 + 1 == 2); } TEST_CASE("Demonstrating Subcases") { // This initialization is shared between all subcases int x = 1; // Note that these two subcases run independantly of each other! SUBCASE("Increment") { x += 1; CHECK(x == 2); } SUBCASE("Decrement") { x -= 1; CHECK(x == 0); } // Flow returns here after each independant subcase, so we can test // shared effects here CHECK(x != 1); } // A few notes on subcases: // - You can nest subcases // - Subcases work by creating multiple calls to the higher level case, // where each call proceeds to only one of the subcases. If you generate // excessive subcases, watch out for a stack overflow. void runPositiveCheck(int64_t val) { // helper function for parameterized test method 1 CHECK(val > 0); } TEST_CASE("Demonstrate Parameterized Tests - method 1") { // Generate the data you want the tests to iterate over std::list<uint32_t> dataContainer = {42, 64, 8675309, 1024}; for (auto i : dataContainer) { CAPTURE(i); runPositiveCheck(i); } } TEST_CASE("Demonstrate Parameterized Tests - method 2") { // Generate the data you want the tests to iterate over uint32_t item; std::list<uint32_t> dataContainer = {42, 64, 8675309, 1024}; // This macro from doctestUtils.h will generate a subcase per datum DOCTEST_VALUE_PARAMETERIZED_DATA(item, dataContainer); // this check will now be run for each datum CHECK(item > 0); } // ---------------------------------------------- // YAML Config Examples // ---------------------------------------------- std::string transmogrifier(const std::string& s) { // an example function with differing output for some scenarios if (s == "scenario2") { return "bar"; } return "foo"; } void checkAgainstExpectedResults(const std::string& scenarioName, const YAML::Node& expectedResults) { // we have to specify the type of the desired data from the config via as() CHECK(3.14159 == expectedResults["pi"].as<double>()); CHECK(2 == expectedResults["onlyEvenPrime"].as<int>()); // as() does work for some non-scalar types, such as vectors, lists, and maps // for adding custom types to the config, see: // https://github.com/jbeder/yaml-cpp/wiki/Tutorial#converting-tofrom-native-data-types const auto fib = expectedResults["fibonacciSeq"].as<std::vector<int>>(); CHECK(fib[2] + fib[3] == fib[4]); // More complicated checks can be done with helper functions that take the scenario as input CHECK(transmogrifier(scenarioName) == expectedResults["transmogrifierOutput"].as<std::string>()); } TEST_CASE("Use a config file to detail multiple scenarios") { YAML::Node configRoot = YAML::LoadFile(CONFIG_PATH); // The config file has default parameters and // an override for one or more scenarios std::vector<std::string> scenarios = {"scenario1", "scenario2", "scenario3"}; for (const auto& s : scenarios) { ConfigMap conf = getScenarioConfig(s, configRoot); checkAgainstExpectedResults(s, conf); } } // ---------------------------------------------- // Misc. // ---------------------------------------------- TEST_CASE("A few other useful macros") { // The most common test macro is CHECK, but others are available // Here are just a few // Any failures here will prevent the rest of the test from running REQUIRE(0 == 0); // Make sure the enclosed code does/doesn't throw an exception CHECK_THROWS(throw "test exception!"); CHECK_NOTHROW(if (false) throw "should not throw"); // Prints a warning if the assert fails, but does not fail the test WARN(true); } }

C++

CesiumGS/cesium-omniverse/tests/src/GltfTests.cpp

#include "testUtils.h" #include "cesium/omniverse/FabricMaterialInfo.h" #include "cesium/omniverse/FabricVertexAttributeAccessors.h" #include "cesium/omniverse/GltfUtil.h" #include <CesiumGltf/Material.h> #include <CesiumGltf/MeshPrimitive.h> #include <CesiumGltf/Model.h> #include <CesiumGltfReader/GltfReader.h> #include <doctest/doctest.h> #include <cstddef> #include <cstdio> #include <filesystem> #include <fstream> #include <iostream> #include <optional> #include <stdexcept> #include <string> #include <vector> #include <gsl/span> #include <yaml-cpp/yaml.h> using namespace cesium::omniverse; const std::string ASSET_DIR = "tests/testAssets/gltfs"; const std::string CONFIG_PATH = "tests/configs/gltfConfig.yaml"; // simplifies casting when comparing some material queries to expected output from config bool operator==(const glm::dvec3& v3, const std::vector<double>& v) { return v.size() == 3 && v3[0] == v[0] && v3[1] == v[1] && v3[2] == v[2]; } TEST_SUITE("Test GltfUtil") { void checkGltfExpectedResults(const std::filesystem::path& gltfFileName, const YAML::Node& expectedResults) { // --- Load Gltf --- std::ifstream gltfStream(gltfFileName, std::ifstream::binary); gltfStream.seekg(0, std::ios::end); auto gltfFileLength = gltfStream.tellg(); gltfStream.seekg(0, std::ios::beg); std::vector<std::byte> gltfBuf(static_cast<uint64_t>(gltfFileLength)); gltfStream.read((char*)&gltfBuf[0], gltfFileLength); CesiumGltfReader::GltfReader reader; auto gltf = reader.readGltf( gsl::span(reinterpret_cast<const std::byte*>(gltfBuf.data()), static_cast<uint64_t>(gltfFileLength))); if (!gltf.errors.empty()) { for (const auto& err : gltf.errors) { std::cerr << err; } throw std::runtime_error("failed to parse model"); } // gltf.model is a std::optional<CesiumGltf::Model>, make sure it exists if (!(gltf.model && gltf.model->meshes.size() > 0)) { throw std::runtime_error("test model is empty"); } // --- Begin checks --- const auto& prim = gltf.model->meshes[0].primitives[0]; const auto& model = *gltf.model; CHECK(GltfUtil::hasNormals(model, prim, false) == expectedResults["hasNormals"].as<bool>()); CHECK(GltfUtil::hasTexcoords(model, prim, 0) == expectedResults["hasTexcoords"].as<bool>()); CHECK( GltfUtil::hasRasterOverlayTexcoords(model, prim, 0) == expectedResults["hasRasterOverlayTexcoords"].as<bool>()); CHECK(GltfUtil::hasVertexColors(model, prim, 0) == expectedResults["hasVertexColors"].as<bool>()); CHECK(GltfUtil::hasMaterial(prim) == expectedResults["hasMaterial"].as<bool>()); // material tests if (GltfUtil::hasMaterial(prim)) { const auto& matInfo = GltfUtil::getMaterialInfo(model, prim); CHECK(matInfo.alphaCutoff == expectedResults["alphaCutoff"].as<double>()); CHECK(matInfo.alphaMode == static_cast<FabricAlphaMode>(expectedResults["alphaMode"].as<int32_t>())); CHECK(matInfo.baseAlpha == expectedResults["baseAlpha"].as<double>()); CHECK(matInfo.baseColorFactor == expectedResults["baseColorFactor"].as<std::vector<double>>()); CHECK(matInfo.emissiveFactor == expectedResults["emissiveFactor"].as<std::vector<double>>()); CHECK(matInfo.metallicFactor == expectedResults["metallicFactor"].as<double>()); CHECK(matInfo.roughnessFactor == expectedResults["roughnessFactor"].as<double>()); CHECK(matInfo.doubleSided == expectedResults["doubleSided"].as<bool>()); CHECK(matInfo.hasVertexColors == expectedResults["hasVertexColors"].as<bool>()); } // Accessor smoke tests PositionsAccessor positions; IndicesAccessor indices; positions = GltfUtil::getPositions(model, prim); CHECK(positions.size() > 0); indices = GltfUtil::getIndices(model, prim, positions); CHECK(indices.size() > 0); if (GltfUtil::hasNormals(model, prim, false)) { CHECK(GltfUtil::getNormals(model, prim, positions, indices, false).size() > 0); } if (GltfUtil::hasVertexColors(model, prim, 0)) { CHECK(GltfUtil::getVertexColors(model, prim, 0).size() > 0); } if (GltfUtil::hasTexcoords(model, prim, 0)) { CHECK(GltfUtil::getTexcoords(model, prim, 0).size() > 0); } if (GltfUtil::hasRasterOverlayTexcoords(model, prim, 0)) { CHECK(GltfUtil::getRasterOverlayTexcoords(model, prim, 0).size() > 0); } CHECK(GltfUtil::getExtent(model, prim) != std::nullopt); } TEST_CASE("Default getter smoke tests") { CHECK_NOTHROW(GltfUtil::getDefaultMaterialInfo()); CHECK_NOTHROW(GltfUtil::getDefaultTextureInfo()); } TEST_CASE("Check helper functions on various models") { std::vector<std::string> gltfFiles; // get list of gltf test files for (auto const& i : std::filesystem::directory_iterator(ASSET_DIR)) { std::filesystem::path fname = i.path().filename(); if (fname.extension() == ".gltf" || fname.extension() == ".glb") { gltfFiles.push_back(fname.string()); } } // parse test config yaml const auto configRoot = YAML::LoadFile(CONFIG_PATH); const auto basePath = std::filesystem::path(ASSET_DIR); for (auto const& fileName : gltfFiles) { // attach filename to any failed checks CAPTURE(fileName); const auto conf = getScenarioConfig(fileName, configRoot); // the / operator concatonates file paths checkGltfExpectedResults(basePath / fileName, conf); } } }

C++

CesiumGS/cesium-omniverse/tests/src/ObjectPoolTests.cpp

#include "testUtils.h" #include <cesium/omniverse/ObjectPool.h> #include <doctest/doctest.h> #include <algorithm> #include <cstdint> #include <cstdlib> #include <memory> #include <queue> constexpr int MAX_TESTED_POOL_SIZE = 1024; // The max size pool to randomly generate // ObjectPool is a virtual class so we cannot directly instantiate it for // testing, and instantiating the classes that implement it (FabricGeometryPool, // FabricMaterialPool, and FabricTexturePool) requires mocking more complicated // classes, so we create a bare-bones class here. class MockObject { public: MockObject(uint64_t objectId) { id = objectId; active = false; }; uint64_t id; bool active; }; class MockObjectPool final : public cesium::omniverse::ObjectPool<MockObject> { protected: std::shared_ptr<MockObject> createObject(uint64_t objectId) const override { return std::make_shared<MockObject>(objectId); }; void setActive(MockObject* obj, bool active) const override { obj->active = active; }; }; void testRandomSequenceOfCmds(MockObjectPool& opl, int numEvents, bool setCap) { // Track the objects we've acquired so we can release them std::queue<std::shared_ptr<MockObject>> activeObjects; // The total number of acquires performed, which becomes the minimum // expected size of the pool auto maxActiveCount = opl.getNumberActive(); // Perform a random sequence of acquires/releases while // ensuring we only release what we've acquired for (int i = 0; i < numEvents; ++i) { if (!activeObjects.empty() && rand() % 2 == 0) { opl.release(activeObjects.front()); activeObjects.pop(); } else { activeObjects.push(opl.acquire()); } maxActiveCount = std::max(maxActiveCount, activeObjects.size()); if (setCap && i == numEvents / 2) { // At the halfway point, try resetting the capacity // Ensure the new size is GTE, avoiding rollover uint64_t guaranteedGTE = std::max(opl.getCapacity(), opl.getCapacity() + static_cast<uint64_t>(rand() % MAX_TESTED_POOL_SIZE)); opl.setCapacity(guaranteedGTE); } } auto numActive = activeObjects.size(); // Ensure our math matches CHECK(opl.getNumberActive() == numActive); // Make sure there's capacity for all objects CHECK(opl.getCapacity() >= numActive + opl.getNumberInactive()); CHECK(opl.getCapacity() >= maxActiveCount); // The percent active is calculated out of the pool's total capacity // which must be gte our max observed active count float expectedPercentActive; if (maxActiveCount != 0) { expectedPercentActive = (float)numActive / (float)maxActiveCount; } else { expectedPercentActive = 1; } CHECK(opl.computePercentActive() <= expectedPercentActive); } // ---- Begin tests ---- TEST_SUITE("Test ObjectPool") { TEST_CASE("Test initializiation") { MockObjectPool opl = MockObjectPool(); SUBCASE("Initial capacity") { CHECK(opl.getCapacity() == 0); } SUBCASE("Initial active") { CHECK(opl.getNumberActive() == 0); } SUBCASE("Initial inactive") { CHECK(opl.getNumberInactive() == 0); } SUBCASE("Initial percent active") { // Initial percent active is assumed to be 100% in parts of the code CHECK(opl.computePercentActive() == 1); } } TEST_CASE("Test acquire/release") { MockObjectPool opl = MockObjectPool(); // Generate a random number of actions to perform int numEvents; std::list<int> randEventCounts; fillWithRandomInts(randEventCounts, 0, MAX_TESTED_POOL_SIZE, NUM_TEST_REPETITIONS); SUBCASE("Test repeated acquires") { DOCTEST_VALUE_PARAMETERIZED_DATA(numEvents, randEventCounts); for (int i = 0; i < numEvents; ++i) { opl.acquire(); } CHECK(opl.getNumberActive() == numEvents); CHECK(opl.getCapacity() >= numEvents); } SUBCASE("Test random acquire/release patterns") { DOCTEST_VALUE_PARAMETERIZED_DATA(numEvents, randEventCounts); testRandomSequenceOfCmds(opl, numEvents, false); } SUBCASE("Test random setting capacity") { DOCTEST_VALUE_PARAMETERIZED_DATA(numEvents, randEventCounts); testRandomSequenceOfCmds(opl, numEvents, true); } } }

C++

CesiumGS/cesium-omniverse/tests/src/tilesetTests.cpp

#include "tilesetTests.h" #include "testUtils.h" #include "cesium/omniverse/AssetRegistry.h" #include "cesium/omniverse/Context.h" #include "cesium/omniverse/OmniTileset.h" #include "cesium/omniverse/UsdUtil.h" #include <CesiumUsdSchemas/tileset.h> #include <carb/dictionary/DictionaryUtils.h> #include <carb/events/IEvents.h> #include <doctest/doctest.h> #include <omni/kit/IApp.h> #include <memory> pxr::SdfPath endToEndTilesetPath; bool endToEndTilesetLoaded = false; carb::events::ISubscriptionPtr endToEndTilesetSubscriptionPtr; class TilesetLoadListener; std::unique_ptr<TilesetLoadListener> tilesetLoadListener; using namespace cesium::omniverse; class TilesetLoadListener final : public carb::events::IEventListener { public: uint64_t refCount = 0; void onEvent(carb::events::IEvent* e [[maybe_unused]]) override { endToEndTilesetLoaded = true; }; uint64_t addRef() override { return ++refCount; }; uint64_t release() override { return --refCount; }; }; void setUpTilesetTests(Context* pContext, const pxr::SdfPath& rootPath) { // Create a listener for tileset load events auto app = carb::getCachedInterface<omni::kit::IApp>(); auto bus = app->getMessageBusEventStream(); auto tilesetLoadedEvent = carb::events::typeFromString("cesium.omniverse.TILESET_LOADED"); tilesetLoadListener = std::make_unique<TilesetLoadListener>(); endToEndTilesetSubscriptionPtr = bus->createSubscriptionToPushByType(tilesetLoadedEvent, tilesetLoadListener.get()); // Load a local test tileset endToEndTilesetPath = UsdUtil::makeUniquePath(pContext->getUsdStage(), rootPath, "endToEndTileset"); auto endToEndTileset = UsdUtil::defineCesiumTileset(pContext->getUsdStage(), endToEndTilesetPath); std::string tilesetFilePath = "file://" TEST_WORKING_DIRECTORY "/tests/testAssets/tilesets/Tileset/tileset.json"; endToEndTileset.GetSourceTypeAttr().Set(pxr::TfToken("url")); endToEndTileset.GetUrlAttr().Set(tilesetFilePath); } void cleanUpTilesetTests(const pxr::UsdStageRefPtr& stage) { endToEndTilesetSubscriptionPtr->unsubscribe(); stage->RemovePrim(endToEndTilesetPath); tilesetLoadListener.reset(); } TEST_SUITE("Tileset tests") { TEST_CASE("End to end test") { // set by the TilesetLoadListener when any tileset successfully loads CHECK(endToEndTilesetLoaded); } }

C++

CesiumGS/cesium-omniverse/tests/src/testUtils.cpp

#include "testUtils.h" #include <unordered_map> #include <variant> #include <yaml-cpp/node/detail/iterator_fwd.h> #include <yaml-cpp/node/node.h> #include <yaml-cpp/node/parse.h> #include <yaml-cpp/node/type.h> #include <yaml-cpp/yaml.h> void fillWithRandomInts(std::list<int>& lst, int min, int max, int n) { for (int i = 0; i < n; ++i) { // The odd order here is to avoid issues with rollover int x = (rand() % (max - min)) + min; lst.push_back(x); } } ConfigMap getScenarioConfig(const std::string& scenario, YAML::Node configRoot) { ConfigMap sConfig = ConfigMap(); const auto& defaultConfig = configRoot["scenarios"]["default"]; for (YAML::const_iterator it = defaultConfig.begin(); it != defaultConfig.end(); ++it) { sConfig[it->first.as<std::string>()] = it->second; } const auto& overrides = configRoot["scenarios"][scenario]; for (auto it = overrides.begin(); it != overrides.end(); ++it) { sConfig[it->first.as<std::string>()] = it->second; } return sConfig; }

C++

CesiumGS/cesium-omniverse/tests/src/CesiumOmniverseCppTests.cpp

#define CARB_EXPORTS #define DOCTEST_CONFIG_IMPLEMENT #define DOCTEST_CONFIG_IMPLEMENTATION_IN_DLL #define DOCTEST_CONFIG_SUPER_FAST_ASSERTS #include "CesiumOmniverseCppTests.h" #include "UsdUtilTests.h" #include "testUtils.h" #include "tilesetTests.h" #include "cesium/omniverse/Context.h" #include "cesium/omniverse/Logger.h" #include <carb/PluginUtils.h> #include <cesium/omniverse/UsdUtil.h> #include <doctest/doctest.h> #include <omni/fabric/IFabric.h> #include <omni/kit/IApp.h> #include <pxr/usd/sdf/path.h> #include <pxr/usd/usd/stage.h> #include <iostream> namespace cesium::omniverse::tests { class CesiumOmniverseCppTestsPlugin final : public ICesiumOmniverseCppTestsInterface { public: void onStartup(const char* cesiumExtensionLocation) noexcept override { _pContext = std::make_unique<Context>(cesiumExtensionLocation); } void onShutdown() noexcept override { _pContext = nullptr; } void setUpTests(long int stage_id) noexcept override { // This runs after the stage has been created, but at least one frame // before runAllTests. This is to allow time for USD notifications to // propogate, as prims cannot be created and used on the same frame. _pContext->getLogger()->info("Setting up Cesium Omniverse Tests with stage id: {}", stage_id); _pContext->onUsdStageChanged(stage_id); auto rootPath = cesium::omniverse::UsdUtil::getRootPath(_pContext->getUsdStage()); setUpUsdUtilTests(_pContext.get(), rootPath); setUpTilesetTests(_pContext.get(), rootPath); } void runAllTests() noexcept override { _pContext->getLogger()->info("Running Cesium Omniverse Tests"); // construct a doctest context doctest::Context context; // Some tests contain relative paths rooted in the top level project dir // so we set this as the working directory std::filesystem::path oldWorkingDir = std::filesystem::current_path(); std::filesystem::current_path(TEST_WORKING_DIRECTORY); // run test suites context.run(); // restore the previous working directory std::filesystem::current_path(oldWorkingDir); _pContext->getLogger()->info("Cesium Omniverse tests complete"); _pContext->getLogger()->info("Cleaning up after tests"); cleanUpAfterTests(); _pContext->getLogger()->info("Cesium Omniverse test prims removed"); } void cleanUpAfterTests() noexcept { // delete any test related prims here auto pUsdStage = _pContext->getUsdStage(); cleanUpUsdUtilTests(pUsdStage); cleanUpTilesetTests(pUsdStage); } private: std::unique_ptr<Context> _pContext; }; } // namespace cesium::omniverse::tests const struct carb::PluginImplDesc pluginImplDesc = { "cesium.omniverse.cpp.tests.plugin", "Cesium Omniverse Tests Plugin.", "Cesium", carb::PluginHotReload::eDisabled, "dev"}; #ifdef CESIUM_OMNI_CLANG #pragma clang diagnostic push #pragma clang diagnostic ignored "-Wgnu-zero-variadic-macro-arguments" #endif CARB_PLUGIN_IMPL(pluginImplDesc, cesium::omniverse::tests::CesiumOmniverseCppTestsPlugin) CARB_PLUGIN_IMPL_DEPS(omni::fabric::IFabric, omni::kit::IApp, carb::settings::ISettings) #ifdef CESIUM_OMNI_CLANG #pragma clang diagnostic pop #endif void fillInterface([[maybe_unused]] cesium::omniverse::tests::CesiumOmniverseCppTestsPlugin& iface) {}

C++

CesiumGS/cesium-omniverse/tests/src/UsdUtilTests.cpp

#include "UsdUtilTests.h" #include "testUtils.h" #include "cesium/omniverse/Context.h" #include "cesium/omniverse/UsdUtil.h" #include <CesiumUsdSchemas/data.h> #include <CesiumUsdSchemas/georeference.h> #include <CesiumUsdSchemas/globeAnchorAPI.h> #include <CesiumUsdSchemas/ionRasterOverlay.h> #include <CesiumUsdSchemas/ionServer.h> #include <CesiumUsdSchemas/session.h> #include <CesiumUsdSchemas/tileset.h> #include <doctest/doctest.h> #include <glm/ext/matrix_double4x4.hpp> #include <pxr/usd/usdGeom/cube.h> #include <pxr/usd/usdGeom/xformCommonAPI.h> #include <pxr/usd/usdGeom/xformable.h> // define prim paths globally to cut down on repeated definitions // name the paths after the function to be tested so they can easily be paired up later pxr::SdfPath defineCesiumDataPath; pxr::SdfPath defineCesiumSessionPath; pxr::SdfPath defineCesiumGeoreferencePath; pxr::SdfPath defineCesiumTilesetPath; pxr::SdfPath defineCesiumIonRasterOverlayPath; pxr::SdfPath defineGlobeAnchorPath; pxr::CesiumSession getOrCreateCesiumSessionPrim; using namespace cesium::omniverse; using namespace cesium::omniverse::UsdUtil; const Context* pContext; void setUpUsdUtilTests(cesium::omniverse::Context* context, const pxr::SdfPath& rootPath) { // might as well name the prims after the function as well, to ensure uniqueness and clarity defineCesiumDataPath = rootPath.AppendChild(pxr::TfToken("defineCesiumData")); defineCesiumSessionPath = rootPath.AppendChild(pxr::TfToken("defineCesiumSession")); defineCesiumGeoreferencePath = rootPath.AppendChild(pxr::TfToken("defineCesiumGeoreference")); defineCesiumIonRasterOverlayPath = rootPath.AppendChild(pxr::TfToken("defineCesiumIonRasterOverlay")); defineCesiumTilesetPath = rootPath.AppendChild(pxr::TfToken("defineCesiumTileset")); defineGlobeAnchorPath = rootPath.AppendChild(pxr::TfToken("defineGlobeAnchor")); defineCesiumData(context->getUsdStage(), defineCesiumDataPath); defineCesiumSession(context->getUsdStage(), defineCesiumSessionPath); defineCesiumGeoreference(context->getUsdStage(), defineCesiumGeoreferencePath); defineCesiumTileset(context->getUsdStage(), defineCesiumTilesetPath); defineCesiumIonRasterOverlay(context->getUsdStage(), defineCesiumIonRasterOverlayPath); // defineGlobeAnchor(globeAnchorPath); getOrCreateCesiumSessionPrim = getOrCreateCesiumSession(context->getUsdStage()); pContext = context; } void cleanUpUsdUtilTests(const pxr::UsdStageRefPtr& stage) { // might as well name the prims after the function as well, to ensure uniqueness and clarity stage->RemovePrim(defineCesiumDataPath); stage->RemovePrim(defineCesiumSessionPath); stage->RemovePrim(defineCesiumGeoreferencePath); stage->RemovePrim(defineCesiumIonRasterOverlayPath); stage->RemovePrim(defineCesiumTilesetPath); stage->RemovePrim(defineGlobeAnchorPath); // stage->RemovePrim(globeAnchorPath); stage->RemovePrim(getOrCreateCesiumSessionPrim.GetPath()); } TEST_SUITE("UsdUtil tests") { TEST_CASE("Check expected initial state") { auto cesiumObjPath = pxr::SdfPath("/Cesium"); CHECK(primExists(pContext->getUsdStage(), cesiumObjPath)); // TODO can we check something invisible here too? CHECK(isPrimVisible(pContext->getUsdStage(), cesiumObjPath)); } TEST_CASE("Check glm/usd conversion functions") { glm::dmat4 matrix(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15); // Round-trip conversion of usd/glm matrix CHECK(matrix == usdToGlmMatrix(glmToUsdMatrix(matrix))); } TEST_CASE("Tests that require prim creation") { auto primPath = makeUniquePath(pContext->getUsdStage(), getRootPath(pContext->getUsdStage()), "CesiumTestPrim"); auto prim = pContext->getUsdStage()->DefinePrim(primPath); // Intentionally try the same prim name auto cubePath = makeUniquePath(pContext->getUsdStage(), getRootPath(pContext->getUsdStage()), "CesiumTestPrim"); // Tests makeUniquePath actually returns unique paths CHECK(primPath.GetPrimPath() != cubePath.GetPrimPath()); auto cube = pxr::UsdGeomCube::Define(pContext->getUsdStage(), cubePath); auto xformApiCube = pxr::UsdGeomXformCommonAPI(cube); xformApiCube.SetRotate({30, 60, 90}); xformApiCube.SetScale({5, 12, 13}); xformApiCube.SetTranslate({3, 4, 5}); auto xformableCube = pxr::UsdGeomXformable(cube); pxr::GfMatrix4d cubeXform; bool xformStackResetNeeded [[maybe_unused]]; xformableCube.GetLocalTransformation(&cubeXform, &xformStackResetNeeded); CHECK(usdToGlmMatrix(cubeXform) == computePrimLocalToWorldTransform(pContext->getUsdStage(), cubePath)); pContext->getUsdStage()->RemovePrim(primPath); pContext->getUsdStage()->RemovePrim(cubePath); } TEST_CASE("Test UTF-8 path names") { for (int i = 0; i < NUM_TEST_REPETITIONS; ++i) { std::string randomUTF8String = "safe_name_test"; randomUTF8String.reserve(64); for (long unsigned int ii = 0; ii < randomUTF8String.capacity() - randomUTF8String.size(); ++ii) { char randChar = (char)(rand() % 0xE007F); randomUTF8String.append(&randChar); } auto safeUniquePath = makeUniquePath(pContext->getUsdStage(), getRootPath(pContext->getUsdStage()), randomUTF8String); pContext->getUsdStage()->DefinePrim(safeUniquePath); CHECK(primExists(pContext->getUsdStage(), safeUniquePath)); pContext->getUsdStage()->RemovePrim(safeUniquePath); CHECK_FALSE(primExists(pContext->getUsdStage(), safeUniquePath)); } } TEST_CASE("Cesium helper functions") { auto rootPath = getRootPath(pContext->getUsdStage()); CHECK(isCesiumData(pContext->getUsdStage(), defineCesiumDataPath)); CHECK(isCesiumSession(pContext->getUsdStage(), defineCesiumSessionPath)); CHECK(isCesiumGeoreference(pContext->getUsdStage(), defineCesiumGeoreferencePath)); CHECK(isCesiumTileset(pContext->getUsdStage(), defineCesiumTilesetPath)); CHECK(isCesiumIonRasterOverlay(pContext->getUsdStage(), defineCesiumIonRasterOverlayPath)); // CHECK(hasCesiumGlobeAnchor(pContext->getUsdStage(), globeAnchorPath)); CHECK(isCesiumSession(pContext->getUsdStage(), getOrCreateCesiumSessionPrim.GetPath())); } TEST_CASE("Smoke tests") { // functions for which we do not yet have better tests, // but we can at least verify they don't throw CHECK_NOTHROW(getDynamicTextureProviderAssetPathToken("foo")); CHECK_NOTHROW(getUsdUpAxis(pContext->getUsdStage())); CHECK(getUsdMetersPerUnit(pContext->getUsdStage()) > 0); } }

C++

CesiumGS/cesium-omniverse/tests/configs/exampleConfig.yaml

--- # One way to use the config file is to generate multiple scenarios with # variations on some known parameters. If most of the scenarios have a # parameter at one particular value, it can make sense to establish that as # the default, then we only need to list the changes from that default. # See the gltf test config for a real use-case scenarios: default: # currently supported data types for the testUtils methods: # float pi : 3.14159 # int onlyEvenPrime : 2 # string transmogrifierOutput : "foo" # sequence fibonacciSeq : - 1 - 1 - 2 - 3 - 5 # an example override for a given item scenario2: transmogrifierOutput : "bar"

YAML

CesiumGS/cesium-omniverse/tests/configs/gltfConfig.yaml

--- # scenarios: default: hasNormals : True hasTexcoords : True hasRasterOverlayTexcoords : False hasVertexColors : False doubleSided : False # Material Attributes hasMaterial : True alphaMode : 0 alphaCutoff : 0.5 baseAlpha : 1.0 metallicFactor : 1.0 roughnessFactor : 1.0 baseColorTextureWrapS : 10497 # opengl enum for "repeat" baseColorTextureWrapT : 10497 emissiveFactor: - 0 - 0 - 0 baseColorFactor: - 1 - 1 - 1 # Note: all files should all be .glbs. Anything that uses or queries # accessors requires (included in some tests) requires a call to # CesiumGltfReader::resolveExternalData, which proved to be complicated to integrate. Duck.glb: hasTexcoords : True metallicFactor : 0 Mesh_Primitives_00.glb: hasNormals : False hasTexcoords : False baseColorFactor: - 0 - 1 - 0 Mesh_PrimitivesUV_00.glb: hasNormals : False hasTexcoords : False Mesh_PrimitivesUV_06.glb: hasVertexColors : True Mesh_PrimitivesUV_08.glb: hasVertexColors : True Material_07.glb: metallicFactor : 0.0 emissiveFactor : - 1 - 1 - 1 baseColorFactor : - 0.2 - 0.2 - 0.2 Material_AlphaBlend_05.glb: hasNormals : False hasTexcoords : True alphaMode : 2 baseAlpha : 0.7 Material_AlphaBlend_06.glb: hasNormals : False hasVertexColors : True hasTexcoords : True alphaMode : 2 baseAlpha : 0.7 Material_AlphaMask_04.glb: hasNormals : False hasTexcoords : True alphaMode : 1 alphaCutoff : 0.0 Material_AlphaMask_06.glb: hasNormals : False hasTexcoords : True alphaMode : 1 alphaCutoff : 0.6 baseAlpha : 0.7 Mesh_PrimitiveVertexColor_00.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True Mesh_PrimitiveVertexColor_01.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True Mesh_PrimitiveVertexColor_02.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True Mesh_PrimitiveVertexColor_03.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True Mesh_PrimitiveVertexColor_04.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True Mesh_PrimitiveVertexColor_05.glb: hasMaterial : False hasTexcoords : False hasVertexColors : True

YAML

CesiumGS/cesium-omniverse/tests/bindings/PythonBindings.cpp

#include "CesiumOmniverseCppTests.h" #include <carb/BindingsPythonUtils.h> #ifdef CESIUM_OMNI_CLANG #pragma clang diagnostic push #pragma clang diagnostic ignored "-Wgnu-zero-variadic-macro-arguments" #endif CARB_BINDINGS("cesium.omniverse.cpp.tests.python") #ifdef CESIUM_OMNI_CLANG #pragma clang diagnostic pop #endif DISABLE_PYBIND11_DYNAMIC_CAST(cesium::omniverse::tests::ICesiumOmniverseCppTestsInterface) PYBIND11_MODULE(CesiumOmniverseCppTestsPythonBindings, m) { using namespace cesium::omniverse::tests; m.doc() = "pybind11 cesium.omniverse.cpp.tests bindings"; // clang-format off carb::defineInterfaceClass<ICesiumOmniverseCppTestsInterface>( m, "ICesiumOmniverseCppTestsInterface", "acquire_cesium_omniverse_tests_interface", "release_cesium_omniverse_tests_interface") .def("set_up_tests", &ICesiumOmniverseCppTestsInterface::setUpTests) .def("run_all_tests", &ICesiumOmniverseCppTestsInterface::runAllTests) .def("on_startup", &ICesiumOmniverseCppTestsInterface::onStartup) .def("on_shutdown", &ICesiumOmniverseCppTestsInterface::onShutdown); // clang-format on }

C++

CesiumGS/cesium-omniverse/tests/include/tilesetTests.h

#pragma once #include <pxr/usd/usd/common.h> namespace cesium::omniverse { class Context; } void setUpTilesetTests(cesium::omniverse::Context* pContext, const pxr::SdfPath& rootPath); void cleanUpTilesetTests(const pxr::UsdStageRefPtr& stage);

C

CesiumGS/cesium-omniverse/tests/include/CesiumOmniverseCppTests.h

#pragma once #include <carb/Interface.h> namespace cesium::omniverse::tests { class ICesiumOmniverseCppTestsInterface { public: CARB_PLUGIN_INTERFACE("cesium::omniverse::tests::ICesiumOmniverseCppTestsInterface", 0, 0); /** * @brief Call this on extension startup. * * @param cesiumExtensionLocation Path to the Cesium Omniverse extension location. */ virtual void onStartup(const char* cesiumExtensionLocation) noexcept = 0; /** * @brief Call this on extension shutdown. */ virtual void onShutdown() noexcept = 0; /** * @brief To be run at least one fram prior to `runAllTests` in order to * allow time for USD notifications to propogate. */ virtual void setUpTests(long int stage_id) noexcept = 0; /** * @brief Collects and runs all the doctest tests defined in adjacent .cpp files */ virtual void runAllTests() noexcept = 0; }; } // namespace cesium::omniverse::tests

C

CesiumGS/cesium-omniverse/tests/include/UsdUtilTests.h

#pragma once #include <pxr/usd/usd/common.h> namespace cesium::omniverse { class Context; } void setUpUsdUtilTests(cesium::omniverse::Context* pContext, const pxr::SdfPath& rootPath); void cleanUpUsdUtilTests(const pxr::UsdStageRefPtr& stage);

C

CesiumGS/cesium-omniverse/docs/README.md

# Cesium for Omniverse Documentation ## Usage - [Developer Setup](./developer-setup/README.md) - [Release Guide](./release-guide/README.md) ## General Omniverse Tips - [Omniverse Connector & Live Sync for SketchUp](./connectors/README.md) - [Programmatically Changing Settings](./kit/README.md) - [Building USD On Ubuntu 22.04](./developer-setup/building_usd_on_ubuntu2204.md)

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CesiumGS/cesium-omniverse/docs/onboarding/README.md

## What is Omniverse? Omniverse is a tool that provides an interface for various other tools to interact with a shared 3d environment. The core of this is a USD stage and a Fabric stage. The tools that interact with these stages do so via extensions. To better understand extensions and how they're defined, check out the [official Omniverse extension template](https://github.com/NVIDIA-Omniverse/kit-extension-template) for a "hello world" extension. There is also a similar [C++ extension template](https://github.com/NVIDIA-Omniverse/kit-extension-template-cpp). ### Our Extensions/Apps - Cesium for Omniverse ("The main extension") - Responsible for streaming geospatial data onto the stages, and providing the user interface. - Cesium Usd plugins - Required by the main extension to facilitatge interactions with the USD stage. - Cesium Powertools - Helpful additions for developers, such as one-click ways to open debug interfaces and print the fabric stage. - Cesium Cpp Tests - Tests of the C++ code underlying the main extension. For more info see [the testing guide](../testing-guide/README.md) - The Performance App - Used to get general timing of an interactive session. See [the testing guide](../testing-guide/README.md) for how to run. ## Project File Structure Some self-explanatory directories have been ommitted. - `apps` - Tools that use the extensions, such as the performance testing app, but are not themselves extensions - `docker` - Docker configuration for AlmaLinux 8 CI builds - `exts` - This is where extension code is kept. The file structure follows the pattern: ``` exts └── dot.separated.name ├── bin │ ├── libdot.separated.name.plugin.so └── dot └── separated └── name └── codeNeededByExtension └── __init__.py └── extension.py ``` - `genStubs.*`- auto-generates stub files for python bindings, which are not functionally required but greatly improve intellisense. - `src`/`include` - There are several `src`/`include` subdirs throughout the project, but this top level one is only for code used in the python bindings for the main extension. - `regenerate_schema.*` - changes to our usd schema require using this script. - `scripts` - useful scripts for development that do not contribute to any extension function. - `tests` - c++ related test code used by the Tests Extension. For python related test code, check `exts/cesium.omniverse/cesium/omniverse/tests`. For more details, see the [testing guide](../testing-guide/README.md)

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CesiumGS/cesium-omniverse/docs/release-guide/README.md

# Releasing a new version of Cesium for Omniverse This is the process we follow when releasing a new version of Cesium for Omniverse on GitHub. 1. [Release a new version of Cesium for Omniverse Samples](#releasing-a-new-version-of-cesium-for-omniverse-samples). 2. Make sure the latest commit in `main` is passing CI. 3. Download the latest build from S3. In the AWS management console (InternalServices AWS account), go to the bucket [`cesium-builds/cesium-omniverse/main`](https://s3.console.aws.amazon.com/s3/buckets/cesium-builds?region=us-east-1&prefix=cesium-omniverse/main/&showversions=false), find the appropriate date and commit hash to download the AlmaLinux and Windows zip files (e.g. `CesiumGS-cesium-omniverse-linux-x86_64-xxxxxxx.zip` and `CesiumGS-cesium-omniverse-windows-x86_64-xxxxxxx.zip`) 4. Verify that the Linux package loads in USD Composer (see instructions below). 5. Verify that the Windows package loads in USD Composer (see instructions below). 6. Update the project `VERSION` in [CMakeLists.txt](../../CMakeLists.txt). 7. Update the extension `version` in [cesium.omniverse/config/extension.toml](../../exts/cesium.omniverse/config/extension.toml). This should be the same version as above. 8. If any changes have been made to the Cesium USD schemas since last release: * Update the extension `version` in [cesium.usd.plugins/config/extension.toml](../../exts/cesium.usd.plugins/config/extension.toml) * Update the `cesium.usd.plugins` dependency version in [cesium.omniverse/config/extension.toml](../../exts/cesium.omniverse/config/extension.toml) 9. Update [`CHANGES.md`](../../CHANGES.md). 10. Update `ION_ACCESS_TOKEN` in [`extension.py`](../../apps/exts/cesium.performance.app/cesium/performance/app/extension.py) within `cesium.performance.app` using the newly generated keys. 11. Create a branch, e.g. `git checkout -b release-0.0.0`. 12. Commit the changes, e.g. `git commit -am "0.0.0 release"`. 13. Push the commit, e.g. `git push origin release-0.0.0`. 14. Open a PR and merge the branch with "Rebase and merge". 15. Tag the release, e.g. `git tag -a v0.0.0 -m "0.0.0 release"`. 16. Push the tag, e.g. `git push origin v0.0.0`. 17. Wait for CI to pass. 18. Download the latest build from S3. In the AWS management console (InternalServices AWS account), go to the bucket [`cesium-builds/cesium-omniverse`](https://s3.console.aws.amazon.com/s3/buckets/cesium-builds?prefix=cesium-omniverse/&region=us-east-1), find the folder with the new tag and download the AlmaLinux and Windows zip files (e.g. `CesiumGS-cesium-omniverse-linux-x86_64-v0.0.0.zip` and `CesiumGS-cesium-omniverse-windows-x86_64-v0.0.0.zip` ) 19. Create a new release on GitHub: https://github.com/CesiumGS/cesium-omniverse/releases/new. * Chose the new tag. * Copy the changelog into the description. Follow the format used in previous releases. * Upload the Linux and Windows release zip files. # Releasing a new version of Cesium for Omniverse Samples 1. Create a new access token using the CesiumJS ion account. * The name of the token should match "Cesium for Omniverse Samples vX.X.X - Delete on April 1st, 2023" where the version is the same as the Cesium for Omniverse release and the expiry date is two months later than present. * The scope of the token should be "assets:read" for all assets. 2. Replace the `cesium:projectDefaultIonAccessToken` property in each `.usda` file with the new access token. 3. Verify that all the USD files load in Cesium for Omniverse. 4. Update `CHANGES.md`. 5. Commit the changes, e.g. `git commit -am "0.0.0 release"`. 6. Push the commit, e.g. `git push origin main`. 7. Tag the release, e.g. `git tag -a v0.0.0 -m "0.0.0 release"`. 8. Push the tag, e.g. `git push origin v0.0.0`. 9. Download the repo as a zip file. 10. Extract the zip file. 11. Rename the extracted folder, e.g. rename `cesium-omniverse-samples-main` to `CesiumOmniverseSamples-v0.0.0`. 12. Create a zip file of the folder 13. Create a new release on GitHub: https://github.com/CesiumGS/cesium-omniverse-samples/releases/new. * Choose the new tag. * Copy the changelog into the description. Follow the format used in previous releases. * Upload the zip file. # Verify Package After the package is built, verify that the extension loads in USD Composer: * Open USD Composer * Open the extensions window and remove Cesium for Omniverse from the list of search paths (if it exists) * Close USD Composer * Unzip the package to `$USERHOME$/Documents/Kit/Shared/exts` * Open USD Composer * Open the extensions window and enable autoload for Cesium for Omniverse * Restart USD Composer * Verify that there aren't any console errors * Verify that you can load Cesium World Terrain and OSM buildings * Delete the extensions from `$USERHOME$/Documents/Kit/Shared/exts`

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CesiumGS/cesium-omniverse/docs/release-guide/push-docker-image.md

# Pushing the Docker Image for AlmaLinux 8 builds. We use a docker image for our AlmaLinux 8 builds that contains all of our build dependencies, so we don't have to build the image from scratch on each build. This document outlines how to build and push this to Docker Hub. ## Installing Docker Install [Docker Desktop](https://docs.docker.com/desktop/install/ubuntu/). You will need a license for this and access to our account. On Linux, docker is run as root. To avoid the requirement for `sudo`, you should add your user to the `docker` group: ```shell sudo usermod -aG docker $USER ``` To use the new group membership without logging out of your session completely, you can "relogin" in the same shell by typing: ```shell su - $USER ``` Note: this creates a new login shell and may behave differently from your expectations in a windowed environment e.g., GNOME. In particular, `ssh` logins and `git` may not work anymore. ## Building the container Confirm that you have push access to the [container repo](https://hub.docker.com/r/cesiumgs/omniverse-almalinux8-build). ### Log in Log into docker using: ```shell docker login ``` ### Build the docker image After making your changes to the docker file, execute: ```shell docker build --tag cesiumgs/omniverse-almalinux8-build:$TAGNAME -f docker/AlmaLinux8.Dockerfile . --no-cache ``` You should replace `TAGNAME` with the current date in `YYYY-MM-DD` format. So if it's the 29th of August, 2023, you would use `2023-08-29`. ### Push the image to Docker Hub The build will take some time. Once it is finished, execute the following to push the image to Docker Hub: ```shell docker push cesiumgs/omniverse-almalinux8-build:$TAGNAME ``` Again, you should replace `$TAGNAME` with the current date in `YYYY-MM-DD` format. So if it's the 29th of August, 2023, you would use `2023-08-29`. ### Update CI.Dockerfile The `docker/CI.Dockerfile` file is used as part of the AlmaLinux 8 build step in our GitHub actions. You will need to update the version of the Docker image used to the tagged version you just uploaded.

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CesiumGS/cesium-omniverse/docs/testing-guide/README.md

# Testing Guide ## Performance Test App Provides some general metrics for how long it takes to load tiles. Can be run with: ```bash extern/nvidia/_build/target-deps/kit-sdk/kit ./apps/cesium.performance.kit ``` The is intentionally no vs code launch configuration out of concern that debug related setting could slow the app down. ## Python Tests Python tests are run through `pytest` (see full documentation [here](https://docs.pytest.org/en/latest/)). To run these tests with the proper sourcing and environment, simpy run: ```bash scripts/run_python_unit_tests.(bat|sh) ``` You can also run these tests via the app. Open the extensions window while running omniverse. Find and select the Cesium for Omniverse Extension, then navigate to its Tests tab. The "Run Extension Tests" button will run the python tests (not the C++ tests). ## C++ Tests (The Tests Extension) C++ tests are run through `doctest`, which is set up and run via the Tests Extension. Normally `doctest` can be run via the command line, but since much of the code we test can only run properly inside omniverse, we run the tests there too. The easiest way to run the tests extension is via the launch configuration in vs code. Simply go to the `run and debug` dropdown and launch the `Tests Extension`. The testing output is provided in the terminal used to launch everything. Failed tests will be caught by the debugger, though you may need to go one level up in the execution stack to see the `CHECK` being called. To run the extension via the command line, simply pass the tests extension's kit config file to kit with ```bash extern/nvidia/_build/target-deps/kit-sdk/kit ./apps/cesium.omniverse.cpp.tests.runner.kit ``` [doctest documentation](https://bit.ly/doctest-docs) can be found here. ## How do I add a new test? ### Python `pytest` will auto-discover functions matching the pattern `test_.*` (and other patterns). If you want your tests to be included in the tests for the main extension, import it into `exts/cesium.omniverse/cesium/omniverse/tests/__init__.py`. See [extension_test.py](../../exts/cesium.omniverse/cesium/omniverse/tests/extension_test.py) for an example ### C++ `TEST_SUITE`s and `TEST_CASE`s defined in `tests/src/*.cpp` will be auto-discovered by the `run_all_tests` function in `tests/src/CesiumOmniverseCppTests.cpp`. These macros perform some automagic function definitions, so they are best left outside of other function/class definitions. See `tests/src/ExampleTests.cpp` for examples of basic tests and more advanced use cases, such as using a config file to define expected outputs or parameterizing tests. To create a new set of tests for a class that doesn't already have a relevant tests cpp file, say `myCesiumClass.cpp`: - create `tests/src/myCesiumClassTests.cpp` and `tests/include/myCesiumClassTests.h` - define any setup and cleanup required for the tests in functions in `myCesiumClassTests.cpp`. This can be anything that has to happen on a different frame than the tests, such as prim creation or removal. - expose the setup and cleanup functions in `myCesiumClassTests.h` - call the setup in `setUpTests()` in `tests/src/CesiumOmniverseCppTests.cpp` - call the cleanup in `cleanUpAfterTests()` in `tests/src/CesiumOmniverseCppTests.cpp` - define a `TEST_SUITE` in `myCesiumClassTests.cpp`, and place your `TEST_CASE`(s) in it Any tests defined in the new test suite will be auto-discovered and run when `runAllTests()` (bound to `run_all_tests()`) is called. Classes that do not require setup/cleanup can skip the header and any steps related to setup/cleanup functions.

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CesiumGS/cesium-omniverse/docs/developer-setup/README.md

<!-- omit in toc --> # Cesium for Omniverse - [Prerequisites](#prerequisites) - [Linux](#linux) - [Windows](#windows) - [Clone the repository](#clone-the-repository) - [Build](#build) - [Linux](#linux-1) - [Windows](#windows-1) - [Docker](#docker) - [Advanced build options](#advanced-build-options) - [Unit Tests](#unit-tests) - [Coverage](#coverage) - [Documentation](#documentation) - [Installing](#installing) - [Tracing](#tracing) - [Sanitizers](#sanitizers) - [Formatting](#formatting) - [Linting](#linting) - [Packaging](#packaging) - [Build Linux Package (Local)](#build-linux-package-local) - [Build Windows Package (Local)](#build-windows-package-local) - [VSCode](#vscode) - [Workspaces](#workspaces) - [Tasks](#tasks) - [Launching/Debugging](#launchingdebugging) - [Project Structure](#project-structure) - [Third Party Libraries](#third-party-libraries) - [Overriding Packman Libraries](#overriding-packman-libraries) ## Prerequisites See [Linux](#linux) or [Windows](#windows) for step-by-step installation instructions - Linux (Ubuntu 22.04+ or equivalent) or Windows - Clang 15+, GCC 9+, or Visual Studio 2022+ - Python 3.10+ - For Conan and scripts - CMake 3.22+ - Build system generator - Make - Build system (Linux only) - Conan - Third party C++ library management - gcovr - Code coverage (Linux only) - Doxygen - Documentation - clang-format - Code formatting - clang-tidy - Linting and static code analysis (Linux only) ### Linux - Ensure the correct NVIDIA drivers are installed (not the default open source driver) and that the GPU can be identified ```sh nvidia-smi ``` - Install dependencies (for Ubuntu 22.04 - other Linux distributions should be similar) ```sh sudo apt install -y gcc-9 g++-9 clang-15 python3 python3-pip cmake make git doxygen clang-format-15 clang-tidy-15 clangd-15 gcovr ``` - Install Conan with pip because Conan is not in Ubuntu's package manager ```sh sudo pip3 install conan==1.64.0 ``` - Install `cmake-format` ```sh sudo pip3 install cmake-format ``` - Install `black` and `flake8` ```sh pip3 install black==23.1.0 flake8==6.0.0 ``` - Add symlinks the clang-15 tools so that the correct version is chosen when running `clang-format`, `clang-tidy`, etc ```sh sudo ln -s /usr/bin/clang-15 /usr/bin/clang sudo ln -s /usr/bin/clang++-15 /usr/bin/clang++ sudo ln -s /usr/bin/clang-format-15 /usr/bin/clang-format sudo ln -s /usr/bin/clang-tidy-15 /usr/bin/clang-tidy sudo ln -s /usr/bin/run-clang-tidy-15 /usr/bin/run-clang-tidy sudo ln -s /usr/bin/llvm-cov-15 /usr/bin/llvm-cov sudo ln -s /usr/bin/clangd-15 /usr/bin/clangd ``` - Or, you can use the `update-alternatives` program to create the links and manage versions. This is an approach you can use in a script or on the command line: ```sh clangprogs="/usr/bin/clang*-15 /usr/bin/run-clang-tidy-15 /usr/bin/llvm-cov-15" for prog in $clangprogs do linked=${prog%%-15} generic=${linked##*/} update-alternatives --install $linked $generic $prog 15 done ``` - Then refresh the shell so that newly added dependencies are available in the path. ```sh exec bash ``` ### Windows There are two ways to install prerequisites for Windows, [manually](#install-manually) or [with Chocolatey](#install-with-chocolatey). Chocolately is quicker to set up but may conflict with existing installations. We use Chocolatey for CI. <!-- omit in toc --> #### Install manually - Install Visual Studio 2022 Professional: https://visualstudio.microsoft.com/downloads/ - Select `Desktop Development with C++` and use the default components - Install Git: https://git-scm.com/downloads - Use defaults - Install LLVM 15.0.7: https://llvm.org/builds - When prompted, select `Add LLVM to the system PATH for all users` - Install CMake: https://cmake.org/download - When prompted, select `Add CMake to the system PATH for all users` - Install Python (version 3.x): https://www.python.org/downloads - Select `Add Python 3.x to PATH` - Create a symbolic link called `python3.exe` that points to the actual `python` (version 3.x) executable. This is necessary for some of the scripts to run correctly when `#!/usr/bin/env python3` is at the top of the file. Open Command Prompt as administrator and enter: ```sh where python cd <first_path_in_list> mklink python3.exe python.exe ``` - Install `requests` module for Python ```sh pip3 install requests ``` - Install `cmake-format` ```sh pip3 install cmake-format ``` - Install `black` and `flake8` ```sh pip3 install black==23.1.0 flake8==6.0.0 ``` - Install `colorama` to enable color diff support ```sh pip3 install colorama ``` - Install Conan ```sh pip3 install conan==1.64.0 ``` - Install Doxygen: https://www.doxygen.nl/download.html - After installation, add the install location to your `PATH`. Open PowerShell as administrator and enter: ```sh [Environment]::SetEnvironmentVariable("Path", $env:Path + ";C:\Program Files\doxygen\bin", "Machine") ``` - Enable Long Paths. This ensures that all Conan libraries are installed in `~/.conan`. Open PowerShell as administrator and enter: ```sh New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1 -PropertyType DWORD -Force ``` - Then refresh PowerShell so that newly added dependencies are available in the path. ```sh refreshenv ``` <!-- omit in toc --> #### Install with Chocolatey - Install [Chocolatey](https://docs.chocolatey.org/en-us/choco/setup) and then install dependencies ```sh choco install -y visualstudio2022professional visualstudio2022-workload-nativedesktop python cmake ninja git doxygen.install vswhere --installargs 'ADD_CMAKE_TO_PATH=System' ``` ```sh choco install -y llvm --version=15.0.7 ``` ```sh choco install -y conan --version 1.64.0 ``` > **Note:** If you see a warning like `Chocolatey detected you are not running from an elevated command shell`, reopen Command Prompt as administrator - Create a symbolic link called `python3.exe` that points to the actual `python` (version 3.x) executable. This is necessary for some of the scripts to run correctly when `#!/usr/bin/env python3` is at the top of the file. ```sh where python cd <first_path_in_list> mklink python3.exe python.exe ``` - Install `requests` ```sh pip3 install requests ``` - Install `cmake-format` ```sh pip3 install cmake-format ``` - Install `black` and `flake8` ```sh pip3 install black==23.1.0 flake8==6.0.0 ``` - Install `colorama` to enable color diff support ```sh pip3 install colorama ``` - Enable Long Paths. This ensures that all Conan libraries are installed correctly. Open PowerShell as administrator and enter: ```sh New-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1 -PropertyType DWORD -Force ``` - Then refresh PowerShell so that newly added dependencies are available in the path. ```sh refreshenv ``` ## Clone the repository ```sh git clone [email protected]:CesiumGS/cesium-omniverse.git --recurse-submodules ``` If you forget the `--recurse-submodules`, nothing will work because the Git submodules will be missing. You should be able to fix it with ```sh git submodule update --init --recursive ``` ## Build ### Linux ```sh ## Release cmake -B build cmake --build build --target install --parallel 8 ## Debug cmake -B build-debug -D CMAKE_BUILD_TYPE=Debug cmake --build build-debug --target install --parallel 8 ``` Binaries will be written to `build/bin`. Shared libraries and static libraries will be written to `build/lib`. ### Windows ```sh ## Release cmake -B build cmake --build build --config Release --target install --parallel 8 ## Debug cmake -B build cmake --build build --config Debug --target install --parallel 8 ``` Binaries and shared libraries will be written to `build/bin/Release`. Static libraries and python modules will be written to `build/lib/Release`. CMake will select the most recent version of Visual Studio on your system unless overridden with a generator (e.g. `-G "Visual Studio 17 2022"`). ### Docker Install [Docker Engine CE For Ubuntu](https://docs.docker.com/engine/install/ubuntu/) Enter the container: ```sh docker build --tag cesiumgs/cesium-omniverse:almalinux8 -f docker/AlmaLinux8.Dockerfile . docker run --rm --interactive --tty --volume $PWD:/var/app cesiumgs/cesium-omniverse:almalinux8 ``` Once inside the container, build like usual. Note that linters are turned off. It won't affect the build, it just means there won't be code formatting or linting. It will build fine with GCC. ```sh cmake -B build -D CESIUM_OMNI_ENABLE_LINTERS=OFF cmake --build build ``` ### Advanced build options For faster builds, use the `--parallel` option ```sh cmake -B build cmake --build build --parallel 8 ``` To use a specific C/C++ compiler, set `CMAKE_CXX_COMPILER` and `CMAKE_C_COMPILER` ```sh cmake -B build -D CMAKE_CXX_COMPILER=clang++-15 -D CMAKE_C_COMPILER=clang-15 cmake --build build ``` Make sure to use a different build folder for each compiler, otherwise you may see an error from Conan like ``` Library [name] not found in package, might be system one. ``` This error can also be avoided by deleting `build/CMakeCache.txt` before switching compilers. To view verbose output from the compiler, use the `--verbose` option ```sh cmake -B build cmake --build build --verbose ``` To change the build configuration, set `CMAKE_BUILD_TYPE` to one of the following values: - `Debug`: Required for coverage - `Release`: Used for production builds - `RelWithDebInfo`: Similar to `Release` but has debug symbols - `MinSizeRel`: Similar to `Release` but smaller compile size On Linux ```sh cmake -B build-relwithdebinfo -D CMAKE_BUILD_TYPE=RelWithDebInfo cmake --build build-relwithdebinfo ``` On Windows ```sh cmake -B build cmake --build build --config RelWithDebInfo ``` Note that Windows (MSVC) is a multi-configuration generator meaning all four build configurations are created during the configure step and the specific configuration is chosen during the build step. If using Visual Studio there will be a dropdown to select the build configuration. Ninja is also supported as an alternative to the MSVC generator. To build with Ninja locally open `x64 Native Tools Command Prompt for VS 2022` and run: ``` cmake -B build -D CMAKE_C_COMPILER=cl -D CMAKE_CXX_COMPILER=cl -G "Ninja Multi-Config" cmake --build build --config Release --parallel 8 ``` ## Unit Tests Unit tests can be run by starting the Cesium Omniverse Tests extension inside Omniverse. ## Coverage It's a good idea to generate code coverage frequently to ensure that you're adequately testing new features. To do so run ```sh cmake -B build-debug -D CMAKE_BUILD_TYPE=Debug cmake --build build-debug --target generate-coverage ``` Once finished, the coverage report will be located at `build-debug/coverage/index.html`. Notes: - Coverage is disabled in `Release` mode because it would be inaccurate and we don't want coverage instrumentation in our release binaries anyway - Coverage is not supported on Windows ## Documentation ```sh cmake -B build cmake --build build --target generate-documentation ``` Once finished, documentation will be located at `build/docs/html/index.html`. ## Installing To install `CesiumOmniverse` into the Omniverse Kit extension run: ```sh cmake -B build cmake --build build --target install ``` This will install the libraries to `exts/cesium.omniverse/bin`. <!-- omit in toc --> ### Advanced Install Instructions In some cases it's helpful to produce a self-contained build that can be tested outside of Omniverse. The instructions below are intended for debugging purposes only. To install `CesiumOmniverse` onto the local system run: On Linux ```sh cmake -B build cmake --build build cmake --install build --component library --prefix /path/to/install/location ``` On Windows ```sh cmake -B build cmake --build build --config Release cmake --install build --config Release --component library --prefix /path/to/install/location ``` ## Tracing To enable performance tracing set `CESIUM_OMNI_ENABLE_TRACING`: ```sh cmake -B build -D CESIUM_OMNI_ENABLE_TRACING=ON cmake --build build ``` A file called `cesium-trace-xxxxxxxxxxx.json` will be saved to the `exts/cesium-omniverse` folder when the program exits. This file can then be inspected in `chrome://tracing/`. Note that the JSON output may get truncated if the program closes unexpectedly - e.g. when the debugging session is stopped or the program crashes - or if `app.fastShutdown` is `true` (like with Omniverse Create and `cesium.omniverse.dev.kit`). Therefore the best workflow for performance tracing is to run `cesium.omniverse.dev.trace.kit` and close the window normally. ## Sanitizers When sanitizers are enabled they will check for mistakes that are difficult to catch at compile time, such as reading past the end of an array or dereferencing a null pointer. Sanitizers should not be used for production builds because they inject these checks into the binaries themselves, creating some runtime overhead. Sanitizers - ASAN - [Address sanitizer](https://clang.llvm.org/docs/AddressSanitizer.html) - UBSAN - [Undefined behavior sanitizer](https://clang.llvm.org/docs/UndefinedBehaviorSanitizer.html) > **Note:** memory leak detection is not supported on Windows currently. See https://github.com/google/sanitizers/issues/1026#issuecomment-850404983 > **Note:** memory leak detection does not work while debugging with gdb. See https://stackoverflow.com/questions/54022889/leaksanitizer-not-working-under-gdb-in-ubuntu-18-04 To verify that sanitization is working, add the following code to any cpp file. ```c++ int arr[4] = {0}; arr[argc + 1000] = 0; ``` After running, it should print something like ``` main.cpp:114:22: runtime error: index 1001 out of bounds for type 'int [4]' main.cpp:114:24: runtime error: store to address 0x7ffe16f44c44 with insufficient space for an object of type 'int' 0x7ffe16f44c44: note: pointer points here 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ^ ``` ## Formatting To format code based on the [`.clang-format`](./.clang-format) configuration file ```sh cmake -B build cmake --build build --target clang-format-fix-all ``` The full list of targets is below: - `clang-format-fix-all` - Formats all code - `clang-format-fix-staged` - Formats staged code - `clang-format-check-all` - Checks for formatting problems in all code - `clang-format-check-staged` - Checks for formatting problems in staged code Please note that the `clang-format-fix-all` and `clang-format-fix-staged` targets will add fixes in the working area, not in the staging area. We also have a Git hook that is installed on project configuration that will check if the staging area is properly formatted before permitting a commit. ## Linting `clang-tidy` is run during the build to catch common coding errors. `clang-tidy` is used for linting and static code analysis based on the [`.clang-tidy`](./.clang-tidy) configuration file. We also generate CMake targets to run these tools manually Run `clang-tidy`: ```sh cmake -B build cmake --build build --target clang-tidy ``` ## Packaging ### Build Linux Package (Local) Linux packages are built in the AlmaLinux 8 Docker container. A Red Hat Enterprise Linux 8 compatible OS is the [minimum OS required by Omniverse](https://docs.omniverse.nvidia.com/app_view/common/technical-requirements.html#suggested-minimums-by-product) and uses glibc 2.18 which is compatible with nearly all modern Linux distributions. It's recommended to build AlmaLinux 8 packages in a separate clone of cesium-omniverse since the Docker container will overwrite files in the `extern/nvidia/_build` and `exts` folders. Run the following shell script from the root cesium-omniverse directory: ```sh ./scripts/build_package_almalinux8.sh ``` The resulting `.zip` file will be written to the `build-package` directory (e.g. `CesiumGS-cesium-omniverse-linux-x86_64-v0.0.0.zip`) ### Build Windows Package (Local) Run the following batch script from the root cesium-omniverse directory: ```sh ./scripts/build_package_windows.bat ``` The resulting `.zip` file will be written to the `build-package` directory (e.g. `CesiumGS-cesium-omniverse-windows-x86_64-v0.0.0.zip`) ## VSCode We use VSCode as our primary IDE for development. While everything can be done on the command line the `.vscode` project folder has built-in tasks for building, running unit tests, generating documentation, etc. ### Workspaces Each workspace contains recommended extensions and settings for VSCode development. Make sure to open the workspace for your OS instead of opening the `cesium-omniverse` folder directly. - [cesium-omniverse-linux.code-workspace](./.vscode/cesium-omniverse-linux.code-workspace) - [cesium-omniverse-windows.code-workspace](./.vscode/cesium-omniverse-windows.code-workspace) ### Tasks [`.vscode/tasks.json`](./.vscode/tasks.json) comes with the following tasks: - Configure - configures the project - Build (advanced) - configures and builds the project - Build (tracing) - configures and builds the project with tracing enabled - Build (kit debug) - configures and builds the project using NVIDIA debug libraries - Build (verbose) - configures and builds the project with verbose output - Build (debug) - configures and builds the project in debug mode with the default compiler - Build (release) - configures and builds the project in release mode with the default compiler - Build Only (debug) - builds the project in debug mode with the default compiler - Build Only (release) - builds the project in release mode with the default compiler - Clean - cleans the build directory - Coverage - generates a coverage report and opens a web browser showing the results - Documentation - generates documentation and opens a web browser showing the results - Format - formats the code with clang-format - Lint - runs clang-tidy - Lint Fix - runs clang-tidy and fixes issues - Dependency Graph - shows the third party library dependency graph To run a task: - `Ctrl + Shift + B` and select the task, e.g. `Build` - Select the build type and compiler (if applicable) ### Launching/Debugging Windows and Linux versions of `launch.json` are provided in the `.vscode` folder. * On Windows copy `launch.windows.json` and rename it to `launch.json`. * On Linux copy `launch.linux.json` and rename it to `launch.json`. Alternatively, create a symlink so that `launch.json` always stays up-to-date: ```sh # Windows - Command Prompt As Administrator cd .vscode mklink launch.json launch.windows.json ``` ```sh # Linux cd .vscode sudo ln -s launch.linux.json launch.json ``` Then select a configuration from the `Run and Debug` panel, such as `Kit App`, and click the green arrow. > **Note:** Most configurations run a build-only prelaunch task. This assumes the project has already been configured. When debugging for the first time make sure to configure the project first by pressing `Ctrl + Shift + B` and running `Build (debug)`. > **Note:** For running the `Performance Tracing` configuration, make sure the project has been configured with tracing enabled by pressing `Ctrl + Shift + B` and running `Build (tracing)`. > **Note:** For running the `Development App (Kit Debug)` configuration make sure the project has been built with NVIDIA debug libraries by pressing `Ctrl + Shift + B` and running `Build (kit debug)`. > **Note:** For Python debugging, first run `Python Debugging (start)`, then wait for Omniverse to load, then run `Python Debugging (attach)`. Now you can set breakpoints in both the C++ and Python code. <!-- omit in toc --> #### Launch/Debug Troubleshooting - When running in debug within vscode, if you find execution halting at a breakpoint outside the cesium codebase, you may need to uncheck "C++: on throw" under the "Breakpoints" section of the "Run and Debug" panel. - On Linux, if you are given an error or warning about IOMMU, you may need to turn this off in the BIOS. IOMMU also goes by the name of Intel VT-d and AMD-Vi. - On Linux, if repeated `"[Omniverse app]" is not responding` prompts to either force quit or wait, you may want to extend the global timeout for such events from the default 5s to 30s with the following command (for gnome): ```sh gsettings set org.gnome.mutter check-alive-timeout 30000 ``` ## Project Structure - `src` - Source code for the CesiumOmniverse library - `include` - Include directory for the CesiumOmniverse library - `tests` - Unit tests - `extern` - Third-party dependencies that aren't on Conan - `cmake` - CMake helper files - `scripts` - Build scripts and Git hooks - `docker` - Docker files ## Third Party Libraries We use [Conan](https://conan.io/) as our C++ third party package manager for dependencies that are public and not changed often. Third party libraries are always built from source and are cached on the local system for subsequent builds. To add a new dependency to Conan - Add it to [AddConanDependencies.cmake](./cmake/AddConanDependencies.cmake) - Call `find_package` in [CMakeLists.txt](./CMakeLists.txt) - Add the library to the `LIBRARIES` field in any relevant `setup_lib` or `setup_app` calls Some dependencies are pulled in as Git submodules instead. When adding a new git submodule add the license to [ThirdParty.extra.json](./ThirdParty.extra.json). [ThirdParty.json](./ThirdParty.json) is autogenerated and combines [ThirdParty.extra.json](./ThirdParty.extra.json) and Conan dependencies. ### Overriding Packman Libraries The external dependencies from Nvidia use Nvidia's packman tool to fetch and install. The dependency files are found at `/extern/nvidia/deps` in this repository. You can override these by using a `*.packman.xml.user` file. For example, to override the version of kit you can create a user file called `kit-sdk.packman.xml.user` next to `kit-sdk.packman.xml` in the `deps` directory. You can then use standard packman configurations within this file, such as: ```xml <project toolsVersion="5.6"> <dependency name="kit_sdk" linkPath="../_build/target-deps/kit-sdk/"> <package name="kit-sdk" version="105.0.1+release.109439.ed961c5c.tc.${platform}.release"/> </dependency> <dependency name="kit_sdk_debug" linkPath="../_build/target-deps/kit-sdk-debug/"> <package name="kit-sdk" version="105.0.1+release.109439.ed961c5c.tc.${platform}.debug"/> </dependency> </project> ``` The above configuration would override the version of the Kit SDK used to `105.0.1+release.109439.ed961c5c.tc`. These user files are ignored by the `.gitignore` so it is safe to test out prerelease and private versions of new libraries.

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CesiumGS/cesium-omniverse/docs/developer-setup/building_usd_on_ubuntu2204.md

# Building Pixar's USD 22.11 for Ubuntu 22.04 _Last Updated: 2022/01/12_ Building Pixar's USD 22.11 on Ubuntu 22.04 can be difficult. This guide aims to help those who wish to download and compile USD on their system. For most people, [using the Nvidia binaries should suffice and is the recommended option](https://developer.nvidia.com/usd). If those do not work for you, or you wish to have a self-compiled version, this guide is for you. ## Prerequisites You need: - Python 3.7 from the Deadsnakes PPA: https://launchpad.net/~deadsnakes/+archive/ubuntu/ppa - GCC 11 - Cmake - USD downloaded from the GitHub repository: https://github.com/PixarAnimationStudios/USD ## Python Setup As of writing, USD targets Python 3.7. On Ubuntu you need to use the [Deadsnakes PPA](https://launchpad.net/~deadsnakes/+archive/ubuntu/ppa) to get this. You need the following packages: - python3.7 - python3.7-dev - libpython3.7 - libpython3.7-dev Once you have Python 3.7, you need to install `PyOpenGL` and `PySide2`. **You cannot use your normal system `pip` command for this!** The correct command is: ```shell python3.7 -m pip install PyOpenGL PySide2 ``` ## Fixing Boost USD currently targets Boost 1.70 on Linux, which has issues compiling on Ubuntu 22.04. USD supports up to Boost 1.76 on account of issues in MacOS. We can use this to our advantage. Apply the below patchfile to the repository to fix this. ``` diff --git a/build_scripts/build_usd.py b/build_scripts/build_usd.py index 5d3861d0a..96dd1c0a4 100644 --- a/build_scripts/build_usd.py +++ b/build_scripts/build_usd.py @@ -695,7 +695,7 @@ if MacOS(): BOOST_URL = "https://boostorg.jfrog.io/artifactory/main/release/1.76.0/source/boost_1_76_0.tar.gz" BOOST_VERSION_FILE = "include/boost/version.hpp" elif Linux(): - BOOST_URL = "https://boostorg.jfrog.io/artifactory/main/release/1.70.0/source/boost_1_70_0.tar.gz" + BOOST_URL = "https://boostorg.jfrog.io/artifactory/main/release/1.76.0/source/boost_1_76_0.tar.gz" BOOST_VERSION_FILE = "include/boost/version.hpp" elif Windows(): # The default installation of boost on Windows puts headers in a versioned ``` ## Building USD **NOTE: At this time, only a limited number of install options have been tested. YMMV.** We can use the USD build scripts to build USD as we normally would, but we need to provide some additional options for Python for this to work correctly. If you just need to quickly get this built, use the following command from the USD repository's directory. It builds the USD and the tools including `usdview`, placing them in `~/.local/USD`. If you want to learn more, read on below. ```shell python3.7m build_scripts/build_usd.py ~/.local/USD \ --tools \ --usd-imaging \ --usdview \ --build-python-info /usr/bin/python3.7m /usr/include/python3.7m /usr/lib/python3.7/config-3.7m-x86_64-linux-gnu/libpython3.7m.so 3.7 ``` The important line here is the `--build-python-info` line. This takes, in order, the Python executable, include directory, library, and version. Using the Deadsnakes PPA, these are: - `PYTHON_EXECUTABLE` : `/usr/bin/python3.7m` - `PYTHON_INCLUDE_DIR` : `/usr/include/python3.7m` - `PYTHON_LIBRARY` : `/usr/lib/python3.7/config-3.7m-x86_64-linux-gnu/libpython3.7m.so` - `PYTHON_VERSION` : `3.7` Do note that we are using the `pymalloc` versions of Python. The Deadsnakes PPA version of Python 3.7 is compiled using `pymalloc` and `/usr/bin/python3.7` simply symlinks to `/usr/bin/python3.7m`. You could use the symlinks, but there is **NOT** a symlink for `libpython3.7m.so`, so you need to at least provide the direct path to that. ## Afterword There are a lot of other options for building USD. If you use the command `python3.7m build_scripts/build_usd.py --help` you can get a list of all these commands. Your mileage may vary with compiling these other features.

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CesiumGS/cesium-omniverse/docs/connectors/README.md

# Connectors Helpful guides for setting up various connectors with Omniverse. - [SketchUp Connector](./sketchup/README.md)

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CesiumGS/cesium-omniverse/docs/connectors/sketchup/README.md

Introduction ============ This documentation is designed as a supplement guide for the [official Nvidia documentation on the SketchUp Connector](https://docs.omniverse.nvidia.com/con_connect/con_connect/sketchup.html) for Omniverse. While there are some intersections, the primary goal of this documentation is to get someone new to SketchUp, Omniverse, and Cesium for Omniverse up and running quickly. It is strongly advised that the reader take the time to [review the entire official documentation fully](https://docs.omniverse.nvidia.com/con_connect/con_connect/sketchup.html). Installing Omniverse Connector for SketchUp =========================================== Installing the connector can be done through the Exchange Tab in the Omniverse Launcher. The connector requires a SketchUp Pro license. More details can be found in the [Installing the Connector](https://docs.omniverse.nvidia.com/con_connect/con_connect/sketchup.html#installing-the-connector) section of the official docs. Instructions ------------ 1. Ensure that SketchUp is closed. 2. Navigate to the Exchange Tab 3. Search for "SketchUp" 4. Click on "Trimble SketchUp Omniverse Connector" 5. Click Install Using Omniverse Connector for SketchUp ====================================== **NOTE:** The [official documentation](https://docs.omniverse.nvidia.com/con_connect/con_connect/sketchup.html#connecting-to-view-local) has a section on connecting locally to Omniverse for editing. This section in the official guide is slightly out of date and does not contain details about working with Nucleus at the time of writing, but is worth a read before continuing further. The Omniverse Toolbar --------------------- Once installed and in a project, the Omniverse Toolbar can be dragged to the toolbar area. The diagram below describes all of the functions.  Configuring SketchUp for Omniverse with Nucleus ----------------------------------------------- Once you have started a new project with the correct scale for your needs, you will need to ensure that the settings are properly configured for your Nucleus server. The "Do Not Use Nucleus" checkbox **must be unchecked** for Live Editing with Nucleus to work. **WARNING:** Every time you start or open a new project you must go into the settings dialog and uncheck "Do Not Use Nucleus" at the time of this writing. It is unclear if this is intended or a bug. It is also recommended that *Send to locally installed Viewer* is configured to use either the latest View or Create, and *Create Send To Omniverse output as:*' has "Prop" selected. All other settings can be set to the user’s liking.  Signing into Omniverse ---------------------- Click the *Sign In to Omniverse* button and enter in the host name for your Nucleus server. This will open your browser to finish the sign in process. Exporting to Nucleus -------------------- Once configured correctly, you can export to Nucleus by using either the *Publish Project* or *Publish Prop* button. *Publish Project* produces a `*.project.usd` file and associated directory and *Publish Prop* produces a single `*.usd` file containing the relevant information. **NOTE:** As publishing a prop is more relevant to our needs, this section only goes into further details about *Publish Prop*. Publishing a project is more or less identical steps. When the user presses the *Publish Prop* button in order to publish a new prop, a dialog appears similar to the one below. The flow for saving to Nucleus is: 1. Ensure your SketchUp project is saved. 2. Select the path you want to use in Omniverse Nucleus 3. Enter the name of the file after the path in the *File Name* field. (Extension not required.) 4. Click *Export* In this screenshot, we are saving a file named "docdemo.usd" to the Library folder within Nucleus.  **NOTE:** The *Show Publish Options* button is a quick way to open the settings dialog if you forget to open settings and uncheck *Do Not Use Nucleus* checkbox when you opened or started your project. If you are resuming work on a prop and want to properly link to Nucleus so it recieves your latest edits, simply follow the same instructions but choose the file you want in the picker. This will create a new session with Omniverse so you can continue syncing your SketchUp file with Nucleus. Failure to do so when you reopen your file will result in Nucleus not receiving the changes. Live Editing ------------ Live editing with the SketchUp Connector does work however it appears to be unidirectional in the direction of Omniverse. In order to enable Live Editing, click the *Live Sync Mode* button in the middle of the Omniverse Toolbar. This will open a dialog:  Once the dialog is open, ensure that the *Live Sync* checkbox is checked and Live Editing will be enabled. Once you make changes they will be automatically shared with Omniverse. **WARNING:** Do not close the Omniverse Live Sync dialog box or click the *Connect USD* button. Doing so will both clear the link you currently have with Nucleus for the file, and will end the Live Sync session. We have confirmed with Nvidia that this is intended behavior. References ========== - [Official Nvidia Omniverse Documentation](https://docs.omniverse.nvidia.com/con_connect/con_connect/sketchup.html)

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CesiumGS/cesium-omniverse/docs/kit/README.md

# So you want to programmatically change a setting in Omniverse? An optional first step is to copy the settings. The easiest way to do this is to dump them out when one of our functions in `window.py` is called. This snippet will help: ```python import json import carb.settings with open("<path to desired dump file>", "w") as fh: fh.write(json.dumps(carb.settings.get_settings().get("/"))) ``` Having these settings isn't required but it may be helpful. Once pretty printed using the JSON formatter of your choice, it can help you find file paths to help in your search, and you can take a closer look at all of the current settings. In the case of this ticket, we needed to set a setting for the RTX renderer. A quick search of the `tokens` object gives us this path: ``` c:/users/amorris/appdata/local/ov/pkg/code-2022.2.0/kit/exts/omni.rtx.settings.core ``` Perform a grep in this folder for the menu item you wish to configure programmatically. In this case, I searched for `Normal & Tangent Space Generation Mode`. That should direct you to the file where the widget is available, and you should find the following: ```python tbnMode = ["AUTO", "CPU", "GPU", "Force GPU"] self._add_setting_combo("Normal & Tangent Space Generation Mode", "/rtx/hydra/TBNFrameMode", tbnMode) ``` The most important piece here is the path `/rtx/hydra/TBNFrameMode`. This refers to the path in the settings. Once you have this, programmatically changing the setting is simple: ```python import carb.settings carb.settings.get_settings().set("/rtx/hydra/TBNFrameMode", 1) ``` If you are unsure about what the type of the value for the setting should be, I suggest checking the JSON dump of the settings. The path `/rtx/hydra/TBNFrameMode` refers to, from root, the rtx object, the child hydra object, and followed by the TBNFrameMode property within. You can also search for the property, but beware that there may be multiple that are unrelated. For example, `TBNFrameMode` has three results total, but only one is relevant to our needs.

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CesiumGS/cesium-omniverse/extern/nvidia/deps/target-deps.packman.xml

<project toolsVersion="5.6"> <!-- Import dependencies from Kit SDK to ensure we're using the same versions. --> <import path="../_build/target-deps/kit-sdk/dev/all-deps.packman.xml"> <filter include="python"/> <filter include="nv_usd_py310_release"/> <filter include="usdrt"/> <filter include="carb_sdk_plugins"/> <filter include="pybind11"/> <filter include="cuda"/> </import> <!-- Override the link paths to point to the correct locations. --> <dependency name="python" linkPath="../_build/target-deps/python"/> <dependency name="nv_usd_py310_release" linkPath="../_build/target-deps/usd/release"/> <dependency name="usdrt" linkPath="../_build/target-deps/usdrt"/> <dependency name="carb_sdk_plugins" linkPath="../_build/target-deps/carb_sdk_plugins"/> <dependency name="pybind11" linkPath="../_build/target-deps/pybind11/pybind11"/> <dependency name="cuda" linkPath="../_build/target-deps/cuda/cuda"/> </project>

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CesiumGS/cesium-omniverse/extern/nvidia/deps/kit-sdk.packman.xml

<project toolsVersion="5.6"> <dependency name="kit_sdk" linkPath="../_build/target-deps/kit-sdk/"> <package name="kit-sdk" version="105.1.2+release.135279.09b309e7.tc.${platform}.release"/> </dependency> </project>

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CesiumGS/cesium-omniverse/extern/nvidia/scripts/install.py

import os import packmanapi import sys REPO_ROOT = os.path.join(os.path.dirname(os.path.realpath(__file__)), "..") KIT_SDK_FILE = os.path.join(REPO_ROOT, "deps/kit-sdk.packman.xml") TARGET_DEPS_FILE = os.path.join(REPO_ROOT, "deps/target-deps.packman.xml") if __name__ == "__main__": platform = sys.argv[2] packmanapi.pull(KIT_SDK_FILE, platform=platform) packmanapi.pull(TARGET_DEPS_FILE, platform=platform)

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CesiumGS/cesium-omniverse/extern/nvidia/debug-deps/target-deps.packman.user.xml

<project toolsVersion="5.6"> <import path="../_build/target-deps/kit-sdk-debug/dev/all-deps.packman.xml"> <filter include="nv_usd_py310_debug"/> </import> <dependency name="nv_usd_py310_debug" linkPath="../_build/target-deps/usd/debug"/> </project>

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CesiumGS/cesium-omniverse/extern/nvidia/debug-deps/kit-sdk.packman.user.xml

<project toolsVersion="5.6"> <dependency name="kit_sdk_debug" linkPath="../_build/target-deps/kit-sdk-debug/"> <package name="kit-sdk" version="105.1.2+release.135279.09b309e7.tc.${platform}.debug"/> </dependency> </project>

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CesiumGS/cesium-omniverse-samples/CHANGES.md

### v0.19.0 - 2024-04-01 - Updates for Cesium for Omniverse v0.19.0. ### v0.18.0 - 2024-03-01 - Added samples for Raster Overlays. - Updates for Cesium for Omniverse v0.18.0. ### v0.17.0 - 2024-02-01 - Added project files for Tileset Clipping tutorial. - Updates for Cesium for Omniverse v0.17.0. ### v0.16.0 - 2024-01-02 - Added project files for Placing Objects on the Globe tutorial. - Added project files for Style by Properties tutorial. - Updates for Cesium for Omniverse v0.16.0. ### v0.15.0 - 2023-12-14 - Updates for Cesium for Omniverse v0.15.0. ### v0.14.0 - 2023-12-01 - Updates for Cesium for Omniverse v0.14.0. ### v0.13.0 - 2023-11-01 - Fixed Google Photorealistic 3D Tiles tutorial sample. - Updates for Cesium for Omniverse v0.13.0. ### v0.12.0 - 2023-10-25 - Changed Google Photorealistic 3D Tiles samples to go through Cesium ion. - Added samples for Globe Anchors. - Added samples for Tileset Clipping. - Added samples for Tileset Materials. - Updates for Cesium for Omniverse v0.12.0. ### v0.11.0 - 2023-10-02 - Updates for Cesium for Omniverse v0.11.0. ### v0.10.0 - 2023-09-01 - Updates for Cesium for Omniverse v0.10.0. ### v0.9.0 - 2023-08-01 - Added project files for dynamic skies and sun study tutorial. - Updates for Cesium for Omniverse v0.9.0. ### v0.8.0 - 2023-07-03 - Updates for Cesium for Omniverse v0.8.0. ### v0.7.0 - 2023-06-01 - Switched to RTX Real-Time renderer for Google 3D Tiles examples. - Updates for Cesium for Omniverse v0.7.0. ### v0.6.0 - 2023-05-10 - Added samples to showcase Photorealistic 3D Tiles via Google Maps Platform. - Updates for Cesium for Omniverse v0.6.0. ### v0.5.0 - 2023-05-01 - Updates for Cesium for Omniverse v0.5.0. ### v0.4.0 - 2023-04-03 - Updates for Cesium for Omniverse v0.4.0. ### v0.3.0 - 2023-03-20 - Initial release.

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CesiumGS/cesium-omniverse-samples/README.md

[](https://cesium.com/) # Cesium for Omniverse Samples The Cesium for Omniverse Samples contains a series of USD files to help learn and explore the [Cesium for Omniverse](https://cesium.com/platform/cesium-for-omniverse) extension. The USDs in this project will walk you through the extension's features and demonstrate global-scale content and experiences in Nvidia Omniverse USD Composer. The source code for Cesium for Omniverse itself may be found in the [cesium-omniverse](https://github.com/CesiumGS/cesium-omniverse) repo.  *<p align="center">Photogrammetry of San Francisco, California visualized in Omniverse USD Composer, using Cesium for Omniverse.<br>Open <b>examples/SanFrancisco/SanFrancisco.usd</b> in Omniverse USD Composer to experience it yourself!</p>* ### :rocket: Get Started 1. **[Download Cesium for Omniverse Samples](https://github.com/CesiumGS/cesium-omniverse-samples/releases/latest)**. 2. Extract the `.zip` file into a suitable location on your computer. 3. Follow the Quickstart tutorial to setup Cesium for Omniverse with Omniverse USD Composer. 4. Open any of the USD files within this repo to explore them. Have questions? Ask them on the [community forum](https://community.cesium.com). ## :mountain: USD Descriptions The content in this repo is split into two main folders - Examples and Tutorials. ### :one: Examples Folder The example folder contain cities built with various datasets, high quality lighting, and rendering settings optimised for real-time interaction whilst also providing high quality image and video outputs. #### Denver In Denver you'll see [Cesium World Terrain](https://cesium.com/platform/cesium-ion/content/cesium-world-terrain/) combined with photogrammetry of the city center, captured by [Aerometrex](https://aerometrex.com.au/). #### San Francisco In San Francisco you'll see [Cesium World Terrain](https://cesium.com/platform/cesium-ion/content/cesium-world-terrain/) combined with photogrammetry of the city, captured by [Aerometrex](https://aerometrex.com.au/). #### Vancouver In Vancouver you'll see [Cesium World Terrain](https://cesium.com/platform/cesium-ion/content/cesium-world-terrain/) combined with [Cesium OSM Buildings](https://cesium.com/platform/cesium-ion/content/cesium-osm-buildings/). ### :two: Tutorials Folder The tutorial folder contain USD's representing the completed steps of each tutorial found [here](https://cesium.com/learn/omniverse/). If you want to see the intended outcome of each tutorial, simply open the corresponding USD. ### :green_book:License [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0.html). Cesium for Omniverse Samples is free to use as starter project for both commercial and non-commercial use.

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boredengineering/Robots_for_Omniverse/README.md

# Robots_for_Omniverse The objective of this project is to make developing robotics an engaging and exciting experience.<br/> > OriginalAuthor:<br/> > Renan Monteiro Barbosa<br/> Please feel free to contribute with either robots in openUSD or URDF descriptions that can be converted.<br/> ## openUSD_assets List of robots converted to openUSD.<br/> ### Quadrupeds - [Boston Dynamics](https://www.bostondynamics.com/) - [Spot](https://github.com/chvmp/spot_ros) - [SpotMicroAI](https://spotmicroai.readthedocs.io/en/latest/) ### Bipedal - [Agility Robotics](https://agilityrobotics.com/) - [Digit](https://github.com/adubredu/DigitRobot.jl) - [Unitree Robotics](https://www.unitree.com/h1/) - [NJIT - TOCABI](https://github.com/cadop/tocabi) ## URDF_descriptions It contains all the robot descriptions in URDF.<br/> Below is the list of all the sources where the URDFs where obtained from.<br/> ### Quadrupeds - [kodlab_gazebo - Ghost Robotics](https://github.com/KodlabPenn/kodlab_gazebo) - [ANYbotics](https://github.com/ANYbotics) - [ANYbotics' ANYmal B](https://github.com/ANYbotics/anymal_b_simple_description) - [ANYbotics' ANYmal B - Modified for CHAMP](https://github.com/chvmp/anymal_b_simple_description) - [ANYbotics' ANYmal C](https://github.com/ANYbotics/anymal_c_simple_description) - [ANYbotics' ANYmal B - Modified for CHAMP](https://github.com/chvmp/anymal_c_simple_description) - **Boston Dynamic's Little Dog** - [Boston Dynamic's Little Dog - by RobotLocomotion](https://github.com/RobotLocomotion/LittleDog) - [Boston Dynamic's Little Dog - Modified for CHAMP](https://github.com/chvmp/littledog_description) - **Boston Dynamic's Spot** - [Boston Dynamic's Spot - by heuristicus](https://github.com/heuristicus/spot_ros) - [Boston Dynamic's Spot - Modified for CHAMP](https://github.com/chvmp/spot_ros) - [Dream Walker](https://github.com/Ohaginia/dream_walker) - [MIT Mini Cheetah - Original](https://github.com/HitSZwang/mini-cheetah-gazebo-urdf) - [MIT Mini Cheetah - Modified for CHAMP](https://github.com/chvmp/mini-cheetah-gazebo-urdf) - [OpenDog V2 - Original](https://github.com/XRobots/openDogV2) - [OpenDog V2 - Modified for CHAMP](https://github.com/chvmp/opendog_description) - **Open Quadruped** - [Open Quadruped](https://github.com/moribots/spot_mini_mini) - [SpotMicroAI - Gitlab](https://gitlab.com/custom_robots/spotmicroai) - [Spot Micro](https://github.com/chvmp/spotmicro_description) - [Unitree Robotics All](https://github.com/unitreerobotics/unitree_ros) - [Unitree Robotics' Youtube](https://www.youtube.com/@unitreerobotics7482) - [Unitree Robotics All - Modified for CHAMP](https://github.com/chvmp/unitree_ros) - [Unitree Robotics' A1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description) - [Unitree Robotics' AliengoZ1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/aliengoZ1_description) - [Unitree Robotics'Aliengo](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/aliengo_description) - [Unitree Robotics' B1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/b1_description) - [Unitree Robotics' Go1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go1_description) - [Unitree Robotics' Laikago](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/laikago_description) - [Unitree Robotics' Z1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/z1_description) - [Stochlab's Stochlite](https://stochlab.github.io/) - [Stochlab's Stochlite - Modified by aditya-shirwatkar](https://github.com/aditya-shirwatkar/stochlite_description) - **Mini Pupper** - [MangDang's Mini Pupper](https://github.com/mangdangroboticsclub/QuadrupedRobot) - [simplified robot description of the MangDang's Mini Pupper](https://github.com/nisshan-x/mini_pupper_description) - [Stanford pupper - Original](https://stanfordstudentrobotics.org/pupper) - [Stanford pupper - Modified by Chandykunju Alex](https://github.com/chandyalex/stanford_pupper_description.git) ### Bipedal - [Agility Robotics' Cassie - UMich-BipedLab](https://github.com/UMich-BipedLab/cassie_description) - [Agility Robotics' Digit - DigitRobot.jl](https://github.com/adubredu/DigitRobot.jl) - [NJIT - TOCABI](https://github.com/cadop/tocabi) - [Unitree H1](https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1) ### Manipulation - [GoogleAI ROBEL D'Kitty](https://github.com/google-research/robel-scenes) - [GoogleAI ROBEL D'Kitty - Modified for CHAMP](https://github.com/chvmp/dkitty_description) - [The Shadow Robot Company](https://github.com/shadow-robot) - [Shadow Hand - archived](https://github.com/AndrejOrsula/shadow_hand_ign) # Appendix ## Notes<br/> - NJIT-TOCABi has a high poly and low poly version, this repo has the low poly version [light_weight](https://github.com/cadop/tocabi/tree/main/light_weight).<br/> - Dream Walker usd files are too large. Could not commit instanceable_meshes.usd<br/> RobotEra TECHNOLOGY CO.,LTD. Founded in 2023, RobotEra TECHNOLOGY CO., LTD focuses on the R&D of embodied AI general-purpose humanoid robots. https://github.com/roboterax

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boredengineering/Robots_for_Omniverse/URDF_descriptions/openDogV2/README.md

# openDogV2 > Original Author: <br/> > James Bruton <br/> > Xrobots<br/> > Modified by: > Renan Monteiro Barbosa<br/> Purpose: Adapt this opensource quadruped robot project for the standards of the Isaac-Sim simulator.<br/> >Sources:<br/> >- [OpenDog V2 - Original](https://github.com/XRobots/openDogV2)<br/> >- [OpenDog V2 - Modified for CHAMP](https://github.com/chvmp/opendog_description)<br/> > CAD and Code that relates to this YouTube series:<br/> > https://www.youtube.com/playlist?list=PLpwJoq86vov9CcmrLGyM2XyyYDAYG0-Iu - **Release 1:** created at the end of part 6 of the YouTube series. Please note the issues stated at the end of this video.<br/> - **Release 2:** created at the end of part 7 of the YouTube series. Please note the issues stated during this video. Note that the remote is unchanged since release 1.<br/> - **Relase 3:** created for part 8 of the YouTube series. Includes the modified knee motor pulley, Python and Arduino code for the deep learning model.<br/> ## Related Community Projects: OpenDog URDF/config for CHAMP: https://github.com/chvmp/opendog_description 'openDog 2.1' with higher belt reductions and cooling fans: https://github.com/J-DIndustries/openDog-V2.1 # Modified for the OpenUSD format Import on Isaac-Sim

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boredengineering/Robots_for_Omniverse/URDF_descriptions/DigitRobot/README.md

# Digit Manufacturer: [Agility Robotics](https://agilityrobotics.com/)<br/> > Source:<br/> > - [DigitRobot.jl](https://github.com/adubredu/DigitRobot.jl)<br/>

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boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/scene.xml

<mujoco model="h1 scene"> <include file="h1.xml"/> <statistic center="0 0 1" extent="1.8"/> <visual> <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> <rgba haze="0.15 0.25 0.35 1"/> <global azimuth="160" elevation="-20"/> </visual> <asset> <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/> <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/> <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> </asset> <worldbody> <light pos="0 0 3.5" dir="0 0 -1" directional="true"/> <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/> </worldbody> <keyframe> <key name="home" qpos=" 0 0 0.98 1 0 0 0 0 0 -0.4 0.8 -0.4 0 0 -0.4 0.8 -0.4 0 0 0 0 0 0 0 0 0"/> </keyframe> </mujoco>

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boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/README.md

# Unitree H1 Description (MJCF) Requires MuJoCo 2.2.2 or later. ## Overview This package contains a simplified robot description (MJCF) of the [H1 Humanoid Robot](https://www.unitree.com/h1/) developed by [Unitree Robotics](https://www.unitree.com/). The original URDF and assets were provided directly by [Unitree Robotics](https://www.unitree.com/) under a [BSD-3-Clause License](LICENSE). <p float="left"> <img src="h1.png" width="400"> </p> ## URDF → MJCF derivation steps 1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's `<robot>` clause in order to preserve visual geometries. 2. Loaded the URDF into MuJoCo and saved a corresponding MJCF. 3. Manually edited the MJCF to extract common properties into the `<default>` section. 4. Added actuators. 5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. ## License This model is released under a [BSD-3-Clause License](LICENSE).

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boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/h1.xml

<mujoco model="h1"> <compiler angle="radian" meshdir="assets" autolimits="true"/> <statistic meansize="0.05"/> <default> <default class="h1"> <joint damping="1" armature="0.1"/> <default class="visual"> <geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/> </default> <default class="collision"> <geom group="3" mass="0" density="0"/> <default class="foot"> <geom type="capsule" size=".014"/> <default class="foot1"> <geom fromto="-.035 0 -0.056 .02 0 -0.045"/> </default> <default class="foot2"> <geom fromto=".02 0 -0.045 .115 0 -0.056"/> </default> <default class="foot3"> <geom fromto=".14 -.03 -0.056 .14 .03 -0.056"/> </default> </default> </default> <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> </default> </default> <asset> <material name="black" rgba="0.1 0.1 0.1 1"/> <material name="white" rgba="1 1 1 1"/> <mesh file="pelvis.stl"/> <mesh file="left_hip_yaw_link.stl"/> <mesh file="left_hip_roll_link.stl"/> <mesh file="left_hip_pitch_link.stl"/> <mesh file="left_knee_link.stl"/> <mesh file="left_ankle_link.stl"/> <mesh file="right_hip_yaw_link.stl"/> <mesh file="right_hip_roll_link.stl"/> <mesh file="right_hip_pitch_link.stl"/> <mesh file="right_knee_link.stl"/> <mesh file="right_ankle_link.stl"/> <mesh file="torso_link.stl"/> <mesh file="left_shoulder_pitch_link.stl"/> <mesh file="left_shoulder_roll_link.stl"/> <mesh file="left_shoulder_yaw_link.stl"/> <mesh file="left_elbow_link.stl"/> <mesh file="right_shoulder_pitch_link.stl"/> <mesh file="right_shoulder_roll_link.stl"/> <mesh file="right_shoulder_yaw_link.stl"/> <mesh file="right_elbow_link.stl"/> <mesh file="logo_link.stl"/> </asset> <worldbody> <light mode="targetbodycom" target="torso_link" pos="2 0 2.5"/> <body name="pelvis" pos="0 0 1.06" childclass="h1"> <inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39" diaginertia="0.0490211 0.0445821 0.00824619"/> <freejoint/> <geom class="visual" mesh="pelvis"/> <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742"> <inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244" diaginertia="0.00304494 0.00296885 0.00189201"/> <joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> <geom class="visual" mesh="left_hip_yaw_link"/> <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> <body name="left_hip_roll_link" pos="0.039468 0 0"> <inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232" diaginertia="0.00243264 0.00225325 0.00205492"/> <joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/> <geom class="visual" mesh="left_hip_roll_link"/> <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 -0.02 0"/> <body name="left_hip_pitch_link" pos="0 0.11536 0"> <inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152" diaginertia="0.0829503 0.0821457 0.00510909"/> <joint name="left_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> <geom class="visual" mesh="left_hip_pitch_link"/> <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 -0.07 0"/> <body name="left_knee_link" pos="0 0 -0.4"> <inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721" diaginertia="0.0125237 0.0123104 0.0019428"/> <joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/> <geom class="visual" mesh="left_knee_link"/> <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> <body name="left_ankle_link" pos="0 0 -0.4"> <inertial pos="0.06722 0.00015 -0.04497" quat="0.489101 0.503197 0.565782 0.432972" mass="0.446" diaginertia="0.00220848 0.00218961 0.000214202"/> <joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/> <geom class="visual" mesh="left_ankle_link"/> <geom class="foot1"/> <geom class="foot2"/> <geom class="foot3"/> </body> </body> </body> </body> </body> <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742"> <inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244" diaginertia="0.00304494 0.00296885 0.00189201"/> <joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> <geom class="visual" mesh="right_hip_yaw_link"/> <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> <body name="right_hip_roll_link" pos="0.039468 0 0"> <inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232" diaginertia="0.00243264 0.00225325 0.00205492"/> <joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/> <geom class="visual" mesh="right_hip_roll_link"/> <geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 0.02 0"/> <body name="right_hip_pitch_link" pos="0 -0.11536 0"> <inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152" diaginertia="0.0829503 0.0821457 0.00510909"/> <joint name="right_hip_pitch" axis="0 1 0" range="-1.57 1.57"/> <geom class="visual" mesh="right_hip_pitch_link"/> <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/> <geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/> <geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 0.07 0"/> <body name="right_knee_link" pos="0 0 -0.4"> <inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721" diaginertia="0.0125237 0.0123104 0.0019428"/> <joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/> <geom class="visual" mesh="right_knee_link"/> <geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/> <geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/> <body name="right_ankle_link" pos="0 0 -0.4"> <inertial pos="0.06722 -0.00015 -0.04497" quat="0.432972 0.565782 0.503197 0.489101" mass="0.446" diaginertia="0.00220848 0.00218961 0.000214202"/> <joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/> <geom class="visual" mesh="right_ankle_link"/> <geom class="foot1"/> <geom class="foot2"/> <geom class="foot3"/> </body> </body> </body> </body> </body> <body name="torso_link"> <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/> <joint name="torso" axis="0 0 1" range="-2.35 2.35"/> <geom class="visual" mesh="torso_link"/> <geom class="visual" material="white" mesh="logo_link"/> <geom name="head" class="collision" type="capsule" size="0.06" fromto="0.05 0 0.68 0.05 0 0.6"/> <geom name="helmet" class="collision" type="sphere" size="0.073" pos="0.045 0 0.68"/> <geom name="torso" class="collision" type="box" size="0.07 0.1 0.22" pos="0 0 0.25"/> <geom name="hip" class="collision" type="capsule" size="0.05" fromto="0 -0.1 -0.05 0 0.1 -0.05"/> <site name="imu" pos="-0.04452 -0.01891 0.27756"/> <body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0"> <inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033" diaginertia="0.00129936 0.000987113 0.000858198"/> <joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> <geom class="visual" mesh="left_shoulder_pitch_link"/> <body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0"> <inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793" diaginertia="0.00170388 0.00158256 0.00100336"/> <joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/> <geom class="visual" mesh="left_shoulder_roll_link"/> <geom name="left_shoulder" class="collision" type="capsule" size="0.04" fromto="0 0.01 0.008 0 -0.07 -0.02"/> <body name="left_shoulder_yaw_link" pos="0 0 -0.1343"> <inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839" diaginertia="0.00408038 0.00370367 0.000622687"/> <joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/> <geom class="visual" mesh="left_shoulder_yaw_link"/> <geom class="collision" type="capsule" size="0.03" fromto="0 0 0.15 0 0 -0.2"/> <body name="left_elbow_link" pos="0.0185 0 -0.198"> <inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669" diaginertia="0.00601829 0.00600579 0.000408305"/> <joint name="left_elbow" axis="0 1 0" range="-1.25 2.61"/> <geom class="visual" mesh="left_elbow_link"/> <geom class="collision" type="capsule" size="0.025" fromto="0 0 0 0.28 0 -0.015"/> <geom class="collision" type="sphere" size="0.033" pos="0.28 0 -0.015"/> </body> </body> </body> </body> <body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0"> <inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033" diaginertia="0.00129936 0.000987113 0.000858198"/> <joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> <geom class="visual" mesh="right_shoulder_pitch_link"/> <body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0"> <inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793" diaginertia="0.00170388 0.00158256 0.00100336"/> <joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/> <geom class="visual" mesh="right_shoulder_roll_link"/> <geom name="right_shoulder" class="collision" type="capsule" size="0.04" fromto="0 -0.01 0.008 0 0.07 -0.02"/> <body name="right_shoulder_yaw_link" pos="0 0 -0.1343"> <inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839" diaginertia="0.00408038 0.00370367 0.000622687"/> <joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/> <geom class="visual" mesh="right_shoulder_yaw_link"/> <geom class="collision" type="capsule" size="0.03" fromto="0 0 0.15 0 0 -0.2"/> <body name="right_elbow_link" pos="0.0185 0 -0.198"> <inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669" diaginertia="0.00601829 0.00600579 0.000408305"/> <joint name="right_elbow" axis="0 1 0" range="-1.25 2.61"/> <geom class="visual" mesh="right_elbow_link"/> <geom class="collision" type="capsule" size="0.025" fromto="0 0 0 0.28 0 -0.015"/> <geom class="collision" type="sphere" size="0.033" pos="0.28 0 -0.015"/> </body> </body> </body> </body> </body> </body> </worldbody> <contact> <exclude body1="torso_link" body2="left_shoulder_roll_link"/> <exclude body1="torso_link" body2="right_shoulder_roll_link"/> </contact> <actuator> <motor class="h1" name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-200 200"/> <motor class="h1" name="left_hip_roll" joint="left_hip_roll" ctrlrange="-200 200"/> <motor class="h1" name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-200 200"/> <motor class="h1" name="left_knee" joint="left_knee" ctrlrange="-300 300"/> <motor class="h1" name="left_ankle" joint="left_ankle" ctrlrange="-40 40"/> <motor class="h1" name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-200 200"/> <motor class="h1" name="right_hip_roll" joint="right_hip_roll" ctrlrange="-200 200"/> <motor class="h1" name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-200 200"/> <motor class="h1" name="right_knee" joint="right_knee" ctrlrange="-300 300"/> <motor class="h1" name="right_ankle" joint="right_ankle" ctrlrange="-40 40"/> <motor class="h1" name="torso" joint="torso" ctrlrange="-200 200"/> <motor class="h1" name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-40 40"/> <motor class="h1" name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-40 40"/> <motor class="h1" name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-18 18"/> <motor class="h1" name="left_elbow" joint="left_elbow" ctrlrange="-18 18"/> <motor class="h1" name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-40 40"/> <motor class="h1" name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-40 40"/> <motor class="h1" name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-18 18"/> <motor class="h1" name="right_elbow" joint="right_elbow" ctrlrange="-18 18"/> </actuator> </mujoco>

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boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/README.md

# MIT Mini Cheetah An urdf description file of a quadruped robot modeled on mini cheetah. >Source: <br/> >- YOBOTICS, INC.<br/> >- [MIT Mini Cheetah - Original](https://github.com/HitSZwang/mini-cheetah-gazebo-urdf)<br/> >- [MIT Mini Cheetah - Modified for CHAMP](https://github.com/chvmp/mini-cheetah-gazebo-urdf)<br/>

Markdown

boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/README.md

# Boston Dynamics Robots https://www.bostondynamics.com/ ## Little Dog > Source:<br/> > - [Boston Dynamic's Little Dog - by RobotLocomotion](https://github.com/RobotLocomotion/LittleDog) > - [Boston Dynamic's Little Dog - Modified for CHAMP](https://github.com/chvmp/littledog_description) ## Spot > Source:<br/> > - [Boston Dynamic's Spot - by heuristicus](https://github.com/heuristicus/spot_ros) > - [Boston Dynamic's Spot - Modified for CHAMP](https://github.com/chvmp/spot_ros)

Markdown

XiaomingY/omni-ies-viewer/README.md

# IES Viewer Omniverse Extension  This extension displays IES profile web for selected light objects. It is particularly useful for visualizing architectural lighting designs. Orientation of measured light distribution profiles could be quickly tested with visual feedback. IES files are resampled to be light weight and consistant to render. [A video demo](https://drive.google.com/file/d/1DxvjVGT6ZlfukfuTvyBu3iXaHz8qvY5Q/view?usp=sharing) This extension is developed based on the [omni.example.ui_scene.object_info](https://github.com/NVIDIA-Omniverse/kit-extension-sample-ui-scene/tree/main/exts/omni.example.ui_scene.object_info) Supported light type: sphere light, rectangular light, disk light and cylinder light. Only Type C IES file is supported currently, which is also the most commonly used type for architectural light. ## Adding This Extension To add a this extension to your Omniverse app: 1. Go to Extension Manager and turn on Viewport Utility extension 2. Add `git://github.com/XiaomingY/omni-ies-viewer.git?branch=main&dir=exts` to extension search path 3. Turn on IES Viewer Extension

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XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/extension.py

import omni.ext import omni.ui as ui from omni.kit.viewport.utility import get_active_viewport_window from .viewport_scene import ViewportSceneInfo # Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be # instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled # on_shutdown() is called. class AimingToolExtension(omni.ext.IExt): # ext_id is current extension id. It can be used with extension manager to query additional information, like where # this extension is located on filesystem. def __init__(self) -> None: super().__init__() self.viewport_scene = None def on_startup(self, ext_id): viewport_window = get_active_viewport_window() self.viewport_scene = ViewportSceneInfo(viewport_window, ext_id) def on_shutdown(self): if self.viewport_scene: self.viewport_scene.destroy() self.viewport_scene = None

Python

XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/viewport_scene.py

from omni.ui import scene as sc import omni.ui as ui from .object_info_manipulator import ObjInfoManipulator from .object_info_model import ObjInfoModel class ViewportSceneInfo(): """The Object Info Manipulator, placed into a Viewport""" def __init__(self, viewport_window, ext_id) -> None: self.scene_view = None self.viewport_window = viewport_window # NEW: Create a unique frame for our SceneView with self.viewport_window.get_frame(ext_id): # Create a default SceneView (it has a default camera-model) self.scene_view = sc.SceneView() # Add the manipulator into the SceneView's scene with self.scene_view.scene: ObjInfoManipulator(model=ObjInfoModel()) # Register the SceneView with the Viewport to get projection and view updates self.viewport_window.viewport_api.add_scene_view(self.scene_view) def __del__(self): self.destroy() def destroy(self): if self.scene_view: # Empty the SceneView of any elements it may have self.scene_view.scene.clear() # un-register the SceneView from Viewport updates if self.viewport_window: self.viewport_window.viewport_api.remove_scene_view(self.scene_view) # Remove our references to these objects self.viewport_window = None self.scene_view = None

Python

XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/object_info_model.py

from pxr import Tf from pxr import Gf from pxr import Usd from pxr import UsdGeom from pxr import UsdShade from pxr import UsdLux from .IESReader import IESLight import os.path import numpy as np from omni.ui import scene as sc import omni.usd def _flatten_matrix(matrix: Gf.Matrix4d): m0, m1, m2, m3 = matrix[0], matrix[1], matrix[2], matrix[3] return [ m0[0], m0[1], m0[2], m0[3], m1[0], m1[1], m1[2], m1[3], m2[0], m2[1], m2[2], m2[3], m3[0], m3[1], m3[2], m3[3], ] class ObjInfoModel(sc.AbstractManipulatorModel): """ The model tracks the position and info of the selected object. """ class MatrixItem(sc.AbstractManipulatorItem): """ The Model Item represents the tranformation. It doesn't contain anything because we take the tranformation directly from USD when requesting. """ identity = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1] def __init__(self): super().__init__() self.value = self.identity.copy() class PositionItem(sc.AbstractManipulatorItem): """ The Model Item represents the position. It doesn't contain anything because we take the position directly from USD when requesting. """ def __init__(self) -> None: super().__init__() self.value = [0, 0, 0] class PositionList(sc.AbstractManipulatorItem): """ The Model Item represents the position. It doesn't contain anything because we take the position directly from USD when requesting. """ def __init__(self) -> None: super().__init__() self.value = [[0,0,0]] def __init__(self) -> None: super().__init__() # Current selected prim list self.prim = [] self.current_path = [] self.material_name = [] self.stage_listener = None self.horizontal_step = 15 self.vertical_step = 15 self.IESPoints = [ObjInfoModel.PositionList()] self.transformation = [ObjInfoModel.MatrixItem()] # Save the UsdContext name (we currently only work with a single Context) self.usd_context = self._get_context() # Track selection changes self.events = self.usd_context.get_stage_event_stream() self.stage_event_delegate = self.events.create_subscription_to_pop( self.on_stage_event, name="Object Info Selection Update" ) @property def _time(self): return Usd.TimeCode.Default() def _get_context(self) -> Usd.Stage: # Get the UsdContext we are attached to return omni.usd.get_context() #Update when light are transformed or modified def notice_changed(self, notice: Usd.Notice, stage: Usd.Stage) -> None: """Called by Tf.Notice. Used when the current selected object changes in some way.""" light_path = self.current_path if not light_path: return for p in notice.GetChangedInfoOnlyPaths(): prim_path = p.GetPrimPath().pathString #check if prim_path not in selected list but parent of prim_path is in selected list if prim_path not in light_path: if (True in (light_path_item.startswith(prim_path) for light_path_item in light_path)): if UsdGeom.Xformable.IsTransformationAffectedByAttrNamed(p.name): self._item_changed(self.transformation[0]) continue if UsdGeom.Xformable.IsTransformationAffectedByAttrNamed(p.name): self._item_changed(self.transformation[0]) #if light property changed such as ies file changed, update profile self._item_changed(self.transformation[0]) def _get_transform(self, time: Usd.TimeCode): """Returns world transform of currently selected object""" if not self.prim: return [ObjInfoModel.MatrixItem.identity.copy()] # Compute matrix from world-transform in USD #get transform matrix for each selected light world_xform_list = [UsdGeom.BasisCurves(prim).ComputeLocalToWorldTransform(time) for prim in self.prim] # Flatten Gf.Matrix4d to list return [_flatten_matrix(world_xform) for world_xform in world_xform_list] def get_item(self, identifier): if identifier == "IESPoints": return self.IESPoints if identifier == "transformation": return self.transformation def get_as_floats(self, item): if item == self.transformation: return self._get_transform(self._time) if item == self.IESPoints: return self.get_points(self._time) return [] #get ies points for each selected light def get_points(self, time: Usd.TimeCode): if not self.prim: return [[0,0,0]] allIESPoint = [] for prim in self.prim: iesFile = prim.GetAttribute('shaping:ies:file').Get() allIESPoint.append(IESLight(str(iesFile).replace('@', '')).points) return allIESPoint def on_stage_event(self, event): """Called by stage_event_stream. We only care about selection changes.""" if event.type == int(omni.usd.StageEventType.SELECTION_CHANGED): self.current_path = [] self.prim = [] primList = [] primPathList = [] usd_context = self._get_context() stage = usd_context.get_stage() if not stage: return prim_paths = usd_context.get_selection().get_selected_prim_paths() if not prim_paths: # This turns off the manipulator when everything is deselected self._item_changed(self.transformation[0]) return #select light with ies file applied. lightCount = 0 for i in prim_paths: prim = stage.GetPrimAtPath(i) if(UsdLux.Light(prim) and prim.GetAttribute('shaping:ies:file').Get() and not (prim.IsA(UsdLux.DistantLight))): primList.append(prim) primPathList.append(i) lightCount = lightCount +1 if(lightCount==0): if self.stage_listener: self.stage_listener.Revoke() self.stage_listener = None self._item_changed(self.transformation[0]) return if not self.stage_listener: # This handles camera movement self.stage_listener = Tf.Notice.Register(Usd.Notice.ObjectsChanged, self.notice_changed, stage) self.prim = primList self.current_path = primPathList # Position is changed because new selected object has a different position self._item_changed(self.transformation[0]) def destroy(self): self.events = None self.stage_event_delegate.unsubscribe()

Python

XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/object_info_manipulator.py

from __future__ import division from omni.ui import scene as sc from omni.ui import color as cl import omni.ui as ui import numpy as np class ObjInfoManipulator(sc.Manipulator): """Manipulator that displays the object path and material assignment with a leader line to the top of the object's bounding box. """ def on_build(self): """Called when the model is changed and rebuilds the whole manipulator""" if not self.model: return IESPoints = self.model.get_as_floats(self.model.IESPoints) numHorizontal = int((360/self.model.horizontal_step)+1) primCount = 0 for transformation in self.model.get_as_floats(self.model.transformation): self.__root_xf = sc.Transform(transformation) with self.__root_xf: self._x_xform = sc.Transform() with self._x_xform: self._shape_xform = sc.Transform() IESPoint = IESPoints[primCount] numVertical = int(len(IESPoint)/numHorizontal) for index in range(0,numHorizontal): points = IESPoint[index*numVertical:(index+1)*numVertical] if(len(points)>0): sc.Curve(points.tolist(), thicknesses=[1.0], colors=[cl.yellow],tessellation=9) primCount = primCount+1 def on_model_updated(self, item): # Regenerate the manipulator self.invalidate()

Python

XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/IESReader.py

import numpy as np import re import math #import matplotlib.pyplot as plt from scipy import interpolate import os.path #from mpl_toolkits.mplot3d.axes3d import Axes3D import omni.ext import omni.ui as ui omni.kit.pipapi.install("astropy") from astropy.coordinates import spherical_to_cartesian DEFAULT_HORIZONTAL_STEP = 15 DEFAULT_VERTICAL_STEP = 15 IES_MaxLength = 80 class IESLight(): def __init__(self,iesFile): # Current selected prim if iesFile and os.path.exists(iesFile): self.file = iesFile else: return self.width = 0 self.length = 0 self.radius = 0 all_values = self.readIESfile(self.file) verticalAngles,horizontalAngles,intensities,self.width,self.length,self.radius = self.getIESproperties(all_values) horizontalAnglesMirrored, intensityMirrored = self.mirrorAngles(horizontalAngles,intensities) horizontalResampled = np.arange(0, 361, DEFAULT_HORIZONTAL_STEP) verticalResampled = np.arange(0, verticalAngles[-1]+1, DEFAULT_VERTICAL_STEP) resampledIntensity = self.interpolateIESValues(np.array(horizontalAnglesMirrored),np.array(verticalAngles),horizontalResampled,verticalResampled,intensityMirrored) self.points = self.IESCoord2XYZ(horizontalResampled,verticalResampled,resampledIntensity,IES_MaxLength) #read ies files and return vertical angles, horizontal angles, intensities, width, length, radius. #based on the symmetry, horizontal angles and resampled def readIESfile(self, fileName): f=open(fileName, encoding = "ISO-8859-1")#need rb to read \r\n correctly. Otherwise universial newline function ignores carriage return. startReading = 0 line = f.readline() allValues = "" while line: if( not(line.strip())): break else: #after this line, there are actual useful values if("TILT=NONE" in line.strip()): line = f.readline() startReading = 1 #read all number to one string if(startReading): allValues = allValues+line line = f.readline() f.close() #one array with all values dimentions = re.split('\s+',allValues.strip()) return dimentions def getIESproperties(self, allValues): #return FEET2METER = 0.3048 verticalAngles = [] horizontalAngles = [] width = 0 length = 0 radius = 0 intensityMultiplier = 1 numberVerticalAngle = 0 numberHorizontalAngle = 0 unit = 1 #1 for feet, 2 for meter #number of vertical angles and horizontal angles measured numberVerticalAngle = int(allValues[3]) numberHorizontalAngle = int(allValues[4]) #check if shape is rectangle or disk if(float(allValues[7])<0): radius = allValues[7]*-1 else: width = allValues[7] length = allValues[8] #convert dimentions to meter if measured in feet if(float(allValues[6])==1): radius = radius*FEET2METER width = width *FEET2METER length = length * FEET2METER #the actual vertical angles and horizontal angles in list verticalAngles = list(map(float, allValues[13:13+numberVerticalAngle])) horizontalAngles = list(map(float,allValues[13+numberVerticalAngle:13+numberVerticalAngle+numberHorizontalAngle])) #read intensities and convert it to 2d array intensities = np.array(allValues[13+numberVerticalAngle+numberHorizontalAngle:len(allValues)]) intensities = intensities.reshape(numberHorizontalAngle,numberVerticalAngle).astype(np.float16) return verticalAngles,horizontalAngles,intensities,width,length,radius #ies could have several symmetry: #(1)only measured in one horizontal angle (0) which need to be repeated to all horizontal angle from 0 to 360 #(2)only measured in horizontal angles (0~90) which need to be mirrored twice to horizontal angle from 0 to 360 #(3)only measured in horizontal angles (0~180) which need to be mirrored to horizontal angle from 0 to 360 #(4)only measured in horizontal angles (0~360) which could be used directly def mirrorAngles(self, horizontalAngles,intensities): #make use of symmetry in the file and produce horizontal angles from 0~360 if(horizontalAngles[-1]==0): horizontalAnglesMirrored = list(np.arange(0,361,DEFAULT_HORIZONTAL_STEP)) else: horizontalAnglesMirrored = list(np.arange(0,361,horizontalAngles[-1]/(len(horizontalAngles)-1))) #make use of symmetry in the file and copy intensitys for horizontal angles from 0~360 if(horizontalAngles[-1]==90): #mirror results [90:180] a = np.concatenate((intensities, np.flip(intensities, 0)[1:]), axis=0) intensityMirrored = np.concatenate((a, np.flip(a, 0)[1:]), axis=0) elif(horizontalAngles[-1]==180): intensityMirrored = np.concatenate((intensities, np.flip(intensities, 0)[1:]), axis=0) elif(horizontalAngles[-1]==0): intensityMirrored = np.array(([intensities[0],]*len(np.arange(0,361,DEFAULT_HORIZONTAL_STEP)))) else: #print("Symmetry 360") intensityMirrored = intensities return horizontalAnglesMirrored, intensityMirrored def IESCoord2XYZ(self, horizontalAngles,verticalAngles,intensity,maxLength): maxValue = np.amax(intensity) if(maxValue>maxLength): intensity = intensity*(maxLength/maxValue) for index, horizontalAngle in enumerate(horizontalAngles): if(index ==0): #Omniverse and 3ds Max makes the light upside down, horizontal angle rotation direction need to be flipped. points = np.array(spherical_to_cartesian(intensity[index].tolist(), [math.radians(90-x) for x in verticalAngles], [math.radians(-1*horizontalAngle)]*len(verticalAngles))).transpose() else: newPoints = np.array(spherical_to_cartesian(intensity[index], [math.radians(90-x) for x in verticalAngles], [math.radians(-1*horizontalAngle)]*len(verticalAngles))).transpose() points = np.concatenate((points, newPoints), axis=0) #Omniverse and 3ds Max makes the light upside down, so flip z. points[:,2] *= -1 return points def interpolateIESValues(self, originalHorizontalAngles, originalVerticalAngles, newHorizontalAngles,newVerticalAngles, intensity): fun = interpolate.interp2d(originalVerticalAngles, originalHorizontalAngles, intensity, kind='linear') # kind could be {'linear', 'cubic', 'quintic'} interpolatedIntensity = fun(newVerticalAngles,newHorizontalAngles) return interpolatedIntensity

Python

XiaomingY/omni-ies-viewer/exts/IESViewer/config/extension.toml

[package] # Semantic Versionning is used: https://semver.org/ version = "1.0.0" authors = ["Xiaoming Yang"] # The title and description fields are primarily for displaying extension info in UI title = "IES Viewer For Display IES Light Profiles" description="This extension displays IES profiles for selected light objects." # Path (relative to the root) or content of readme markdown file for UI. readme = "docs/README.md" # URL of the extension source repository. repository = "https://github.com/XiaomingY/omni-ies-viewer" # One of categories for UI. category = "Lighting" # Keywords for the extension keywords = ["Lighting", "IES"] changelog = "docs/CHANGELOG.md" preview_image = "data/preview.png" icon = "data/icon.png" # Use omni.ui to build simple UI [dependencies] "omni.ui.scene" = { } "omni.usd" = { } "omni.kit.viewport.utility" = { } # Main python module this extension provides, it will be publicly available as "import AimingTool". [[python.module]] name = "IESViewer"

TOML

Ekozmaster/NvidiaOmniverseRTXRemixTools/README.md

# RTX Remix Tools [ekozerski.rtxremixtools] Focusing on improving RTX Remix modding workflows, this extension is designed to speed up iteration when producing assets and mods by providing useful UI operations inside Omniverse apps like USD Composer/Create or Code. It provides some options for the "Right click" context menu to setup ideal replacement assets, as well as some converting operations to ensure assets will be compatible with the Remix runtime.  It is primarily designed to operate on Remix captured scenes, so users can have instant feedbacks on what their mods are gonna look like in the game scenes and iterate faster. ## Available Tools ### Fix Meshes Geometry <i>(Operation is performed on every mesh of a USD/USDA source file and can\'t be undone)</i> Interpolation Mode - RTX Remix runtime only supports meshes with "vertex" interpolation mode, in which "points" "normals" and "uvs" arrays must have the same length, but DCC tools usually export the mesh using "faceVarying" interpolation mode. This operation reorganizes the geometry to be compatible with the runtime. - See: "Interpolation of Geometric Primitive Variables" - https://openusd.org/dev/api/class_usd_geom_primvar.html - This operation only applies for meshes inside the mods folder, not the captured ones. UV Maps - The runtime supports one single UV map per mesh, which should have one of a few known names, so this script finds many variations, picks one and renames to the standard "primvars:st", while also setting the appropriate type as "TextureCoordinate" (TexCoord2fArray / TexCoord2f[]). The other UVmaps are discarded. Unused Primvars - displayColor and displayOpacity are now removed from the mesh. ### Setup for Mesh Replacement Exports the selected mesh in a selected path, already setting up the replacements and references to work in the runtime, so for every change the user only needs to: - Open the exported mesh in it's DCC of choice, make the changes and export again (with the right settings, triangulating faces, no materials, etc.) - Back in OV, refresh the reference to see the changes in the captured scene. - Use the "Fix Meshes Geometry" again to make it Remix-compatible. - Enjoy. The original mesh is kept in case the user only wants to add more models. Make sure to delete it if the intention is to completely replace the original mesh. ### Add Model If the user already has authored USD models, this option allows to select multiple models and add to the mesh_HASH prim. ### Add Material This option allows to select a material .MDL file (AperturePBR_Opacity.mdl or AperturePBR_Translucent.mdl) to add a material prim to the mesh_HASH prim. ### Original Draw Call Preservation Allows to set the "custom int preserveOriginalDrawCall" attribute to indicate whether the runtime should be forced to render the original mesh or not. Must be set to 1 when placing custom lights or else the original mesh disappears. PS: Remember to set this to 0 if you want to make a mesh replacement and remove the original mesh. ### Select Source Mesh Quick way to select the originial source mesh_HASH prim in the scene when you have an instance prim selected. <br> ## Things to Keep in mind - In a capture scene, any changes made to the "inst_SOMEHASH_x" prims won't show up in the runtime, so every changes must be done in the "mesh_SOMEHASH" they're referencing. Whenever the user clicks a inst_ prim to perform an action like Fixing geometry or Add Model (Ex: Right clicking in the 3D viewport), this tool will try to find the referenced mesh_SOMEHASH and perform the operations in it instead. - Having that in mind, always keep an eye in the "Layers" tab to check if you have done any changes to the "instances" path. Try to delete those changes as much as possible. - The only material types that work in the runtime are described in the AperturePBR_Opacity.MDL and AperturePBR_Translucent.MDL, and every mesh must be triangulated. If you want to add a model you got from somewhere else like an asset store, make sure to convert the assets to work in the runtime. - When placing lights in the scene, it is necesssary to set an int "preserveOriginalDrawCall" to "1" in order to keep rendering the original mesh. If another layer is setting this flag somewhere and you want to replace/remove the original mesh in your own layer, you will notice that the original mesh can't be removed without setting this flag back to "0". You can do that on your own layer, set it back to "0", but make sure your layer comes on top of the other one that sets it to true.

Markdown

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/add_model.py

import os from pathlib import Path from typing import List import omni from omni.client import make_relative_url from omni.kit.window.file_importer import get_file_importer from omni.kit.window.file_exporter import get_file_exporter import omni.usd as usd from pxr import UsdGeom, Usd, Sdf from ekozerski.rtxremixtools.utils import find_inst_hash_prim, find_source_mesh_hash_prim from ekozerski.rtxremixtools.commons import log_info from ekozerski.rtxremixtools import mesh_utils class UserCache: LAST_OPENED_MODEL = None def open_export_dialog_for_captured_mesh(prim_path, mesh): def setup_references_in_stage(current_stage, reference_file_location): _, mesh_hash, __ = Usd.Prim.GetName(mesh.GetParent()).split('_') xform_prim_path = f'/RootNode/meshes/mesh_{mesh_hash}/Xform_{mesh_hash}_0' omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=xform_prim_path) editing_layer = current_stage.GetEditTarget().GetLayer() relative_file_path = make_relative_url(editing_layer.realPath, reference_file_location) omni.kit.commands.execute('AddReference', stage=current_stage, prim_path=Sdf.Path(xform_prim_path), reference=Sdf.Reference(relative_file_path) ) selection = omni.usd.get_context().get_selection() selection.clear_selected_prim_paths() source_layer = mesh.GetPrimStack()[-1].layer source_layer.Reload() selection.set_selected_prim_paths([xform_prim_path], False) def file_export_handler(filename: str, dirname: str, extension: str = "", selections: List[str] = []): stage = Usd.Stage.CreateInMemory() root_xform = UsdGeom.Xform.Define(stage, '/root').GetPrim() stage.SetDefaultPrim(root_xform) new_mesh = UsdGeom.Mesh.Define(stage, f'/root/{prim_path.rsplit("/", 1)[-1]}') needed_attr_names = ['doubleSided', 'extent', 'faceVertexCounts', 'faceVertexIndices', 'normals', 'points', 'primvars:st'] [ new_mesh.GetPrim().CreateAttribute(attr.GetName(), attr.GetTypeName()).Set(attr.Get()) for attr in mesh.GetAttributes() if attr.Get() and attr.GetName() in needed_attr_names ] mesh_utils.convert_mesh_to_vertex_interpolation_mode(new_mesh) ctx = usd.get_context() current_stage = ctx.get_stage() upAxis = UsdGeom.GetStageUpAxis(current_stage) UsdGeom.SetStageUpAxis(stage, upAxis) save_location = dirname + filename + extension stage.Export(save_location) setup_references_in_stage(current_stage, save_location) log_info(f"> Exporting {prim_path} in '{save_location}'") source_layer = mesh.GetPrimStack()[-1].layer rtx_remix_path_parts = source_layer.realPath.split(os.path.join("rtx-remix"), 1) if len(rtx_remix_path_parts) > 1: rtx_remix_path = os.path.join(rtx_remix_path_parts[0], "rtx-remix", "mods", "gameReadyAssets") else: rtx_remix_path = source_layer.realPath rtx_remix_path = os.path.join(rtx_remix_path, "CustomMesh") file_exporter = get_file_exporter() file_exporter.show_window( title=f'Export "{prim_path}"', export_button_label="Save", export_handler=file_export_handler, filename_url=rtx_remix_path, ) def copy_original_mesh(prim_path, mesh, output_path): stage = Usd.Stage.CreateInMemory() root_xform = UsdGeom.Xform.Define(stage, '/root').GetPrim() stage.SetDefaultPrim(root_xform) new_mesh = UsdGeom.Mesh.Define(stage, f'/root/{prim_path.rsplit("/", 1)[-1]}') needed_attr_names = ['doubleSided', 'extent', 'faceVertexCounts', 'faceVertexIndices', 'normals', 'points', 'primvars:st'] [ new_mesh.GetPrim().CreateAttribute(attr.GetName(), attr.GetTypeName()).Set(attr.Get()) for attr in mesh.GetAttributes() if attr.Get() and attr.GetName() in needed_attr_names ] mesh_utils.convert_mesh_to_vertex_interpolation_mode(new_mesh) ctx = usd.get_context() current_stage = ctx.get_stage() upAxis = UsdGeom.GetStageUpAxis(current_stage) UsdGeom.SetStageUpAxis(stage, upAxis) stage.Export(output_path) def setup_references_in_stage(mesh, current_stage, reference_file_location): inst_hash_prim = find_inst_hash_prim(mesh) _, mesh_hash, __ = Usd.Prim.GetName(inst_hash_prim).split('_') export_prim_name = os.path.basename(reference_file_location).split('.', 1)[0] xform_prim_path = f'/RootNode/meshes/mesh_{mesh_hash}/{export_prim_name}' omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=xform_prim_path) editing_layer = current_stage.GetEditTarget().GetLayer() relative_file_path = make_relative_url(editing_layer.realPath, reference_file_location) omni.kit.commands.execute('AddReference', stage=current_stage, prim_path=Sdf.Path(xform_prim_path), reference=Sdf.Reference(relative_file_path) ) source_layer = mesh.GetPrimStack()[-1].layer source_layer.Reload() selection = omni.usd.get_context().get_selection() selection.clear_selected_prim_paths() selection.set_selected_prim_paths([xform_prim_path], False) def open_export_dialog_for_captured_mesh(prim_path, mesh): def export_mesh(filename: str, dirname: str, extension: str = "", selections: List[str] = []): file_location = dirname + filename + extension copy_original_mesh(prim_path, mesh, file_location) ctx = usd.get_context() current_stage = ctx.get_stage() setup_references_in_stage(mesh, current_stage, file_location) source_layer = mesh.GetPrimStack()[-1].layer rtx_remix_path_parts = source_layer.realPath.split(os.path.join("rtx-remix"), 1) rtx_remix_path = source_layer.realPath if len(rtx_remix_path_parts) > 1: rtx_remix_path = os.path.join(rtx_remix_path_parts[0], "rtx-remix", "mods", "gameReadyAssets") rtx_remix_path = os.path.join(rtx_remix_path, "CustomMesh") file_exporter = get_file_exporter() file_exporter.show_window( title=f'Export "{prim_path}"', export_button_label="Save", export_handler=export_mesh, filename_url=rtx_remix_path, ) def open_import_dialog_for_add_models(prim_path): def import_mesh(filename: str, dirname: str, selections: List[str] = []): # TODO: Loop through all selections and add them all to the mesh_HASH with their respective xforms correctly named without collisions. mesh_path = mesh.GetPath().pathString new_selection = list() counter = 0 for reference_file in selections: xform_name = Path(reference_file).stem new_mesh_path = mesh_path + f'/{xform_name}_{counter}' while current_stage.GetPrimAtPath(new_mesh_path).IsValid(): counter += 1 new_mesh_path = mesh_path + f'/{xform_name}_{counter}' omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=new_mesh_path) editing_layer = current_stage.GetEditTarget().GetLayer() relative_file_path = make_relative_url(editing_layer.realPath, reference_file) omni.kit.commands.execute('AddReference', stage=current_stage, prim_path=Sdf.Path(new_mesh_path), reference=Sdf.Reference(relative_file_path) ) new_selection.append(new_mesh_path) UserCache.LAST_OPENED_MODEL = os.path.dirname(reference_file) counter += 1 source_layer = mesh.GetPrimStack()[-1].layer source_layer.Reload() selection = omni.usd.get_context().get_selection() selection.clear_selected_prim_paths() selection.set_selected_prim_paths(new_selection, False) ctx = usd.get_context() current_stage = ctx.get_stage() inst_prim = current_stage.GetPrimAtPath(prim_path) mesh = find_source_mesh_hash_prim(current_stage, inst_prim) source_layer = mesh.GetPrimStack()[-1].layer filename_url = UserCache.LAST_OPENED_MODEL if UserCache.LAST_OPENED_MODEL is not None else source_layer.realPath file_importer = get_file_importer() file_importer.show_window( title=f'Import Models', import_button_label="Import", import_handler=import_mesh, filename_url=filename_url, ) def open_add_model_dialog(): for path in usd.get_context().get_selection().get_selected_prim_paths(): open_import_dialog_for_add_models(path) def open_mesh_replacement_setup_dialog(): for path, mesh in mesh_utils.get_selected_mesh_prims().items(): if mesh_utils.is_a_captured_mesh(mesh): open_export_dialog_for_captured_mesh(path, mesh)

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/commons.py

import carb def log_info(msg: str): carb.log_info(f"[RTX Remix Tool] {msg}") def log_warn(msg: str): carb.log_warn(f"[RTX Remix Tool] {msg}") def log_error(msg: str): carb.log_error(f"[RTX Remix Tool] {msg}")

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/extension.py

import omni.ext import omni.ui as ui from omni.kit import context_menu from omni.kit.hotkeys.core import get_hotkey_registry from omni.kit.actions.core import get_action_registry from . import commons from .rtx_context_menu import build_rtx_remix_menu # Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be # instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled # on_shutdown() is called. class RtxRemixTools(omni.ext.IExt): def on_startup(self, ext_id): self.ext_id = ext_id commons.log_info(f"Starting Up") menu = {"name": "RTX Remix", "populate_fn": build_rtx_remix_menu} self._context_menu_subscription = context_menu.add_menu(menu, "MENU", "") self.hotkey_registry = get_hotkey_registry() register_actions(self.ext_id) self.select_source_mesh_hotkey = self.hotkey_registry.register_hotkey( self.ext_id, "SHIFT + F", self.ext_id, "select_source_mesh", filter=None, ) def on_shutdown(self): commons.log_info(f"Shutting Down") # remove event self._context_menu_subscription.release() self.hotkey_registry.deregister_hotkey( self.select_source_mesh_hotkey, ) deregister_actions(self.ext_id) def register_actions(extension_id): from . import select_source_mesh action_registry = get_action_registry() actions_tag = "RTX Remix Tools Actions" action_registry.register_action( extension_id, "select_source_mesh", select_source_mesh.select_source_meshes, display_name="Select Source Mesh", description="Selects the corresponding mesh_HASH the prim is related to.", tag=actions_tag, ) def deregister_actions(extension_id): action_registry = get_action_registry() action_registry.deregister_all_actions_for_extension(extension_id)

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/mesh_utils.py

from collections import OrderedDict import os from pxr import UsdGeom, Usd, Sdf import omni.usd as usd from ekozerski.rtxremixtools.commons import log_error def get_selected_mesh_prims(): ctx = usd.get_context() current_stage = ctx.get_stage() selection = ctx.get_selection().get_selected_prim_paths() selected_prims = { path: current_stage.GetPrimAtPath(path) for path in selection } meshes = { prim_path: prim for prim_path, prim in selected_prims.items() if UsdGeom.Mesh(prim) } return meshes def convert_mesh_to_vertex_interpolation_mode(mesh): """ This method attemps to convert Remix meshes' interpolation mode from constant or faceVarying to vertex. If there is any faceVarying attribute, it means the data arrays (points, uvs, normals...) will have different lengths, so this script will copy data around using the faceVertexIndices array to ensure they all end up with the same length. """ # TODO: Study interpolation modes in depth to implement a decent conversion script. prim = mesh.GetPrim() primvar_api = UsdGeom.PrimvarsAPI(prim) primvars = {var for var in primvar_api.GetPrimvars()} face_varying_primvars = [v for v in primvars if v.GetInterpolation() == UsdGeom.Tokens.faceVarying] if face_varying_primvars or mesh.GetNormalsInterpolation() == UsdGeom.Tokens.faceVarying: non_face_varying_primvars = list(primvars.difference(face_varying_primvars)) non_face_varying_primvars = [var for var in non_face_varying_primvars if var.GetInterpolation() != 'uniform'] indices = prim.GetAttribute("faceVertexIndices") # Settings points separately since it doesn't have a "SetInterpolation" like primvars. points = prim.GetAttribute("points") points_arr = points.Get() new_arr = [points_arr[i] for i in indices.Get()] points.Set(new_arr) for var in non_face_varying_primvars: original_arr = var.Get() if original_arr: new_arr = [original_arr[i] for i in indices.Get()] var.Set(new_arr) indices.Set([i for i in range(len(indices.Get()))]) [var.SetInterpolation(UsdGeom.Tokens.vertex) for var in primvars] mesh.SetNormalsInterpolation(UsdGeom.Tokens.vertex) def convert_uv_primvars_to_st(mesh): # https://github.com/NVIDIAGameWorks/dxvk-remix/blob/ebb0ecfd638d6a32ab5f10708b5b07bc763cf79b/src/dxvk/rtx_render/rtx_mod_usd.cpp#L696 # https://github.com/Kim2091/RTXRemixTools/blob/8ae25224ef8d1d284f3e208f671b2ce6a35b82af/RemixMeshConvert/For%20USD%20Composer/RemixMeshConvert_OV.py#L4 known_uv_names = [ 'primvars:st', 'primvars:uv', 'primvars:st0', 'primvars:st1', 'primvars:st2', 'primvars:UVMap', 'primvars:UVChannel_1', 'primvars:map1', ] # Preserving the order of found primvars to use the first one, in case a primvars:st can't be found. primvar_api = UsdGeom.PrimvarsAPI(mesh) uv_primvars = OrderedDict( (primvar.GetName(), primvar) for primvar in primvar_api.GetPrimvars() if primvar.GetTypeName().role == 'TextureCoordinate' or primvar.GetName() in known_uv_names ) if not uv_primvars: return # Picking only one UV and blowing up everything else as the runtime only reads the first anyway. considered_uv = uv_primvars.get('primvars:st') or next(iter(uv_primvars.values())) uv_data = considered_uv.Get() [primvar_api.RemovePrimvar(uv_name) for uv_name in uv_primvars.keys()] # Recreating the primvar with appropriate name, type and role new_uv_primvar = primvar_api.CreatePrimvar('primvars:st', Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.vertex) new_uv_primvar.Set(uv_data) def remove_unused_primvars(mesh): unused_primvar_names = [ 'primvars:displayColor', 'primvars:displayOpacity', ] primvar_api = UsdGeom.PrimvarsAPI(mesh) [primvar_api.RemovePrimvar(uv_name) for uv_name in unused_primvar_names] def fix_meshes_in_file(usd_file_path): stage = Usd.Stage.Open(usd_file_path) mesh_prims = [prim for prim in stage.TraverseAll() if UsdGeom.Mesh(prim)] for prim in mesh_prims: faceVertices = prim.GetAttribute("faceVertexCounts").Get() if not faceVertices or not all({x == 3 for x in faceVertices}): log_error(f"Mesh {prim.GetPath()} in '{usd_file_path}' hasn't been triangulated and this tools doesn't do that for you yet :(") continue convert_mesh_to_vertex_interpolation_mode(UsdGeom.Mesh(prim)) convert_uv_primvars_to_st(UsdGeom.Mesh(prim)) remove_unused_primvars(UsdGeom.Mesh(prim)) stage.Save() def is_a_captured_mesh(mesh): """ Returns True if the Mesh's defining USD file is located in the captures folder. """ return os.path.normpath("captures/meshes") in os.path.normpath(mesh.GetPrimStack()[-1].layer.realPath) def fix_meshes_geometry(): meshes = {k: v for k,v in get_selected_mesh_prims().items() if not is_a_captured_mesh(v)} for path, mesh in meshes.items(): source_layer = mesh.GetPrimStack()[-1].layer fix_meshes_in_file(source_layer.realPath) source_layer.Reload()

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/add_material.py

import os from typing import List from omni import usd, kit from omni.kit.window.file_importer import get_file_importer from omni.client import make_relative_url from ekozerski.rtxremixtools.utils import find_source_mesh_hash_prim def open_add_material_dialog_for_prim(mesh_hash, ctx, current_stage): def create_material_from_mdl_file(filename: str, dirname: str, selections: List[str] = []): if not filename.endswith('mdl'): raise ValueError(f"The selected file '{filename}' doesn't have a mdl extension.") mesh_hash_path = mesh_hash.GetPath().pathString counter = 0 material_name = os.path.basename(filename).replace('.mdl', '') new_material_path = mesh_hash_path + f'/{material_name}_{counter}' while current_stage.GetPrimAtPath(new_material_path).IsValid(): counter += 1 new_material_path = mesh_hash_path + f'/{material_name}_{counter}' # TODO: Get material name by inspecting the MDL file rather than guessing from it's name, so users can # rename it at will. mtl_name = 'AperturePBR_Opacity' if 'Opacity' in filename else 'AperturePBR_Translucent' editing_layer = current_stage.GetEditTarget().GetLayer() relative_file_path = make_relative_url(editing_layer.realPath, os.path.join(dirname, filename)) success, _ = kit.commands.execute('CreateMdlMaterialPrimCommand', mtl_url=relative_file_path, mtl_name=mtl_name, mtl_path=new_material_path, select_new_prim=True, ) def filter_handler(filename: str, _, extension_option): if extension_option == '.mdl': return filename.lower().endswith('.mdl') return True file_importer = get_file_importer() file_importer.show_window( title=f'Select MDL File', import_button_label="Select", import_handler=create_material_from_mdl_file, file_extension_types=[(".mdl", "Opacity or Translucent MDL file")], file_filter_handler=filter_handler, ) def open_add_material_dialog(): ctx = usd.get_context() current_stage = ctx.get_stage() selection = ctx.get_selection().get_selected_prim_paths() selected_prims = { path: current_stage.GetPrimAtPath(path) for path in selection } source_meshes = [find_source_mesh_hash_prim(current_stage, prim) for prim in selected_prims.values()] source_meshes = set([mesh for mesh in source_meshes if mesh is not None]) for mesh_hash in list(source_meshes): open_add_material_dialog_for_prim(mesh_hash, ctx, current_stage)

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/utils.py

from pxr import Usd from omni import usd def find_source_mesh_hash_prim(current_stage, prim): if not current_stage.GetPrimAtPath('/RootNode/meshes'): return prim search_prim = prim valid_paths = ['/RootNode/meshes', '/RootNode/instances'] while search_prim.GetParent().IsValid() and search_prim.GetParent().GetPath().pathString not in valid_paths: search_prim = search_prim.GetParent() if not search_prim: return None if 'mesh_' in Usd.Prim.GetName(search_prim): return search_prim _, mesh_hash, __ = Usd.Prim.GetName(search_prim).split('_') mesh_prim_path = f'/RootNode/meshes/mesh_{mesh_hash}' return current_stage.GetPrimAtPath(mesh_prim_path) def find_inst_hash_prim(instance_mesh): search_prim = instance_mesh root_path = '/RootNode/instances' while search_prim.GetParent().IsValid() and search_prim.GetParent().GetPath().pathString != root_path: search_prim = search_prim.GetParent() if not search_prim: return None return search_prim

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/preserve_draw_calls.py

from omni import usd, kit from pxr import Sdf from ekozerski.rtxremixtools.utils import find_source_mesh_hash_prim def set_preserve_original_draw_call(enabled: bool = False): ctx = usd.get_context() current_stage = ctx.get_stage() selection = ctx.get_selection().get_selected_prim_paths() selected_prims = { path: current_stage.GetPrimAtPath(path) for path in selection } source_meshes = [find_source_mesh_hash_prim(current_stage, prim) for prim in selected_prims.values()] source_meshes = set([mesh for mesh in source_meshes if mesh is not None]) for mesh_prim in source_meshes: kit.commands.execute( 'CreateUsdAttributeCommand', prim=mesh_prim, attr_name='preserveOriginalDrawCall', attr_type=Sdf.ValueTypeNames.Int, attr_value=1 if enabled else 0 )

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/rtx_context_menu.py

from omni.kit.ui import get_custom_glyph_code from omni import usd import omni.ui as ui from . import mesh_utils from . import add_model from . import add_material from . import preserve_draw_calls from . import select_source_mesh def _build_fix_mesh_geometry_menu_item(): tooltip = ''.join([ 'Interpolation Mode\n', 'OBS: Operation Can\'t be undone\n', ' RTX Remix runtime only supports "vertex" interpolation mode, in which "points", "normals" and "uvs" arrays ', 'must have the same length, but DCC tools usually export the mesh using "faceVarying" interpolation mode.', 'This operation reorganizes the geometry to be compatible with the runtime. See:\n', ' "Interpolation of Geometric Primitive Variables" - https://openusd.org/dev/api/class_usd_geom_primvar.html', '\n\nThis operation only applies for meshes inside the mods folder, not the captured ones.', ]) ui.MenuItem( "Fix Meshes Geometry", triggered_fn=mesh_utils.fix_meshes_geometry, enabled=any([ not mesh_utils.is_a_captured_mesh(mesh) for mesh in mesh_utils.get_selected_mesh_prims().values() ]), tooltip=tooltip ) def _build_setup_for_mesh_replacements_menu_item(): tooltip = ''.join([ "Export the original mesh to a selected location and setup the references to work within the runtime so you", " can focus on remodeling the mesh and export back at the same location." ]) ui.MenuItem( "Setup for Mesh Replacement", triggered_fn=add_model.open_mesh_replacement_setup_dialog, enabled=any([ mesh_utils.is_a_captured_mesh(mesh) for mesh in mesh_utils.get_selected_mesh_prims().values() ]), tooltip=tooltip ) def _build_add_model_menu_item(): tooltip = ''.join([ "Add external authored meshes to the prim, setting up properly to work within the runtime." ]) ui.MenuItem( "Add Model", triggered_fn=add_model.open_add_model_dialog, tooltip=tooltip, enabled=bool(usd.get_context().get_selection().get_selected_prim_paths()) ) def _build_add_material_menu_item(): tooltip = ''.join([ "Add a material defined from an external MDL file to the selected prim." ]) ui.MenuItem( "Add Material", triggered_fn=add_material.open_add_material_dialog, tooltip=tooltip, enabled=bool(usd.get_context().get_selection().get_selected_prim_paths()) ) def _build_preserve_original_draw_call_menu_item(): tooltip = ''.join([ "Add a 'custom int preserveOriginalDrawCall' attribute set to '1' to the mesh_HASH prim. Used to indicate to", " the runtime whether it should keep rendering the original mesh or not. Should be set when adding custom ", " lights without removing the original mesh from rendering." ]) ui.MenuItem( "Preserve", triggered_fn=lambda: preserve_draw_calls.set_preserve_original_draw_call(True), tooltip=tooltip, enabled=bool(usd.get_context().get_selection().get_selected_prim_paths()) ) def _build_dont_preserve_original_draw_call_menu_item(): tooltip = ''.join([ "Add a 'custom int preserveOriginalDrawCall' attribute set to '0' to the mesh_HASH prim. Used to indicate to", " the runtime whether it should keep rendering the original mesh or not. Should be set when adding custom ", " lights without removing the original mesh from rendering." ]) ui.MenuItem( "Don't Preserve", triggered_fn=lambda: preserve_draw_calls.set_preserve_original_draw_call(False), tooltip=tooltip, enabled=bool(usd.get_context().get_selection().get_selected_prim_paths()) ) def _build_select_source_meshes_menu(): tooltip = ''.join([ "Selects the corresponding mesh_HASH the prim is related to." ]) ui.MenuItem( "Select Source Mesh (Shift + F)", triggered_fn=select_source_mesh.select_source_meshes, tooltip=tooltip, enabled=bool(usd.get_context().get_selection().get_selected_prim_paths()) ) def build_rtx_remix_menu(event): icon = get_custom_glyph_code("${glyphs}/menu_create.svg") with ui.Menu(f' {icon} RTX Remix'): _build_fix_mesh_geometry_menu_item() _build_setup_for_mesh_replacements_menu_item() _build_add_model_menu_item() _build_add_material_menu_item() with ui.Menu(f'Original Draw Call Preservation'): _build_preserve_original_draw_call_menu_item() _build_dont_preserve_original_draw_call_menu_item() _build_select_source_meshes_menu()

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/select_source_mesh.py

from omni import usd from ekozerski.rtxremixtools.utils import find_source_mesh_hash_prim def select_source_meshes(): ctx = usd.get_context() current_stage = ctx.get_stage() selection = ctx.get_selection().get_selected_prim_paths() selected_prims = { path: current_stage.GetPrimAtPath(path) for path in selection } source_meshes = [find_source_mesh_hash_prim(current_stage, prim) for prim in selected_prims.values()] source_meshes = set([mesh for mesh in source_meshes if mesh is not None]) paths = [mesh.GetPath().pathString for mesh in source_meshes] selection = usd.get_context().get_selection() selection.clear_selected_prim_paths() selection.set_selected_prim_paths(paths, False)

Python

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/config/extension.toml

[core] reloadable = true [package] # Semantic Versioning is used: https://semver.org/ version = "0.0.2" # Lists people or organizations that are considered the "authors" of the package. authors = ["Emanuel Kozerski"] # The title and description fields are primarily for displaying extension info in UI title = "RTX Remix Tools" description="Simple toolkit for creating remixing assets compatible with RTX Remix runtime" # Path (relative to the root) or content of readme markdown file for UI. readme = "docs/README.md" # URL of the extension source repository. repository = "https://github.com/Ekozmaster/Nvidia-Omniverse-RTX-Remix-Tools" # One of categories for UI. category = "Other" # Keywords for the extension keywords = ["Tool", "Toolkit", "Tools", "RTX", "Remix"] # Location of change log file in target (final) folder of extension, relative to the root. # More info on writing changelog: https://keepachangelog.com/en/1.0.0/ changelog="docs/CHANGELOG.md" # Preview image and icon. Folder named "data" automatically goes in git lfs (see .gitattributes file). # Preview image is shown in "Overview" of Extensions window. Screenshot of an extension might be a good preview image. preview_image = "data/preview.png" # Icon is shown in Extensions window, it is recommended to be square, of size 256x256. icon = "data/icon.png" # Use omni.ui to build simple UI [dependencies] "omni.kit.uiapp" = {} # Main python module this extension provides, it will be publicly available as "import ekozerski.rtxremixtools". [[python.module]] name = "ekozerski.rtxremixtools" [[test]] # Extra dependencies only to be used during test run dependencies = [ "omni.kit.ui_test" # UI testing extension ]

TOML

Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/docs/CHANGELOG.md

# Changelog The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [0.0.3] - 2023-12-22 - "Add Model", "Add Material" and "Fix Mesh Geometry" also works when not in a capture scene now. - Fixed somes errors when using "Fix Mesh Geometry" option in some meshes. - Added "Shift + F" hotkey to "Select Source Mesh". - Fixed error when using "Setup for Mesh Replacement" on captures which nests original game meshes inside a "ref" Xform. - Added convertion of many "primvar:*" name variations for UV-related primvars to "primvars:st" while discarding extra UV maps. - Removing unused primvars "displayColor" and "displayOpacity". - Xforms from added models and materials now are named according to the imported file rather than Xform_HASH_x ## [0.0.2] - 2023-08-28 - Fixing relative paths converted to absolute on the "Fix Meshes Geometry" function. - Picking best UV map available between all primvars and discarding everything else in the "Fix Meshes Geometry" - Removing unused primvars when using the "Fix Meshes Geometry". - Few more bugfixes. ## [0.0.1] - 2023-08-25 - Initial version - Added "Fix Meshes Geometry" option converting interpolation mode to "vertex". - Added "Setup for Mesh Replacement" option to export the original mesh for remodeling by external DCC tools. - Added "Add Model" option to add external authored .USD models to the mesh_HASH prim. - Added "Add Material" option to add MDL materials to the mesh_HASH prim. - Added "Original Draw Call Preservation" submenu to set. - Added "Select Source Mesh" option to quickly select the mesh_HASH prim.

Markdown

rcervellione-nv/omni.rhinocompute/CONTRIBUTING.md

## Contribution Rules #### Issue Tracking * All enhancement, bugfix, or change requests must begin with the creation of a [TensorRT Issue Request](https://github.com/nvidia/TensorRT/issues). * The issue request must be reviewed by TensorRT engineers and approved prior to code review. #### Coding Guidelines - All source code contributions must strictly adhere to the [TensorRT Coding Guidelines](CODING-GUIDELINES.md). - In addition, please follow the existing conventions in the relevant file, submodule, module, and project when you add new code or when you extend/fix existing functionality. - To maintain consistency in code formatting and style, you should also run `clang-format` on the modified sources with the provided configuration file. This applies TensorRT code formatting rules to: - class, function/method, and variable/field naming - comment style - indentation - line length - Format git changes: ```bash # Commit ID is optional - if unspecified, run format on staged changes. git-clang-format --style file [commit ID/reference] ``` - Format individual source files: ```bash # -style=file : Obtain the formatting rules from .clang-format # -i : In-place modification of the processed file clang-format -style=file -i -fallback-style=none <file(s) to process> ``` - Format entire codebase (for project maintainers only): ```bash find samples plugin -iname *.h -o -iname *.c -o -iname *.cpp -o -iname *.hpp \ | xargs clang-format -style=file -i -fallback-style=none ``` - Avoid introducing unnecessary complexity into existing code so that maintainability and readability are preserved. - Try to keep pull requests (PRs) as concise as possible: - Avoid committing commented-out code. - Wherever possible, each PR should address a single concern. If there are several otherwise-unrelated things that should be fixed to reach a desired endpoint, our recommendation is to open several PRs and indicate the dependencies in the description. The more complex the changes are in a single PR, the more time it will take to review those changes. - Write commit titles using imperative mood and [these rules](https://chris.beams.io/posts/git-commit/), and reference the Issue number corresponding to the PR. Following is the recommended format for commit texts: ``` #<Issue Number> - <Commit Title> <Commit Body> ``` - Ensure that the build log is clean, meaning no warnings or errors should be present. - Ensure that all `sample_*` tests pass prior to submitting your code. - All OSS components must contain accompanying documentation (READMEs) describing the functionality, dependencies, and known issues. - See `README.md` for existing samples and plugins for reference. - All OSS components must have an accompanying test. - If introducing a new component, such as a plugin, provide a test sample to verify the functionality. - To add or disable functionality: - Add a CMake option with a default value that matches the existing behavior. - Where entire files can be included/excluded based on the value of this option, selectively include/exclude the relevant files from compilation by modifying `CMakeLists.txt` rather than using `#if` guards around the entire body of each file. - Where the functionality involves minor changes to existing files, use `#if` guards. - Make sure that you can contribute your work to open source (no license and/or patent conflict is introduced by your code). You will need to [`sign`](#signing-your-work) your commit. - Thanks in advance for your patience as we review your contributions; we do appreciate them! #### Pull Requests Developer workflow for code contributions is as follows: 1. Developers must first [fork](https://help.github.com/en/articles/fork-a-repo) the [upstream](https://github.com/nvidia/TensorRT) TensorRT OSS repository. 2. Git clone the forked repository and push changes to the personal fork. ```bash git clone https://github.com/YOUR_USERNAME/YOUR_FORK.git TensorRT # Checkout the targeted branch and commit changes # Push the commits to a branch on the fork (remote). git push -u origin <local-branch>:<remote-branch> ``` 3. Once the code changes are staged on the fork and ready for review, a [Pull Request](https://help.github.com/en/articles/about-pull-requests) (PR) can be [requested](https://help.github.com/en/articles/creating-a-pull-request) to merge the changes from a branch of the fork into a selected branch of upstream. * Exercise caution when selecting the source and target branches for the PR. Note that versioned releases of TensorRT OSS are posted to `release/` branches of the upstream repo. * Creation of a PR creation kicks off the code review process. * Atleast one TensorRT engineer will be assigned for the review. * While under review, mark your PRs as work-in-progress by prefixing the PR title with [WIP]. 4. Since there is no CI/CD process in place yet, the PR will be accepted and the corresponding issue closed only after adequate testing has been completed, manually, by the developer and/or TensorRT engineer reviewing the code. #### Signing Your Work * We require that all contributors "sign-off" on their commits. This certifies that the contribution is your original work, or you have rights to submit it under the same license, or a compatible license. * Any contribution which contains commits that are not Signed-Off will not be accepted. * To sign off on a commit you simply use the `--signoff` (or `-s`) option when committing your changes: ```bash $ git commit -s -m "Add cool feature." ``` This will append the following to your commit message: ``` Signed-off-by: Your Name <[email protected]> ``` * Full text of the DCO: ``` Developer Certificate of Origin Version 1.1 Copyright (C) 2004, 2006 The Linux Foundation and its contributors. 1 Letterman Drive Suite D4700 San Francisco, CA, 94129 Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. ``` ``` Developer's Certificate of Origin 1.1 By making a contribution to this project, I certify that: (a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or (b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or (c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it. (d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved. ```

Markdown

rcervellione-nv/omni.rhinocompute/README.md

# About This is an extension designed to run in a Nvidia Omniverse application such as Create or Machinima. The extension creates a link to a Rhino.Compute Server [https://developer.rhino3d.com/guides/compute/] allowing you to run Rhino commands such as quad remesh or Grasshopper files. This is designed to be a sample to extend. there are examples for using some basic rhino command like volume and quad remesh as well as running a Grasshopper script. Use this as a starting point to integrate your grasshopper scripts and functions directly into Omniverse and create the necessary UI elements.  # Using It - "app" - It is a folder link to the location of your *Omniverse Kit* based app. - "exts" - is the folder where you add to extension search path. (Extension Manager -> Gear Icon -> Extension Search Path). Open this folder using Visual Studio Code. It will suggest you install a few extensions that will make python experience better. Look for "cerver.util.rhinocompute" extension in extension manager inside Omniverse Create and enable it. Try applying changes to any python files, it will hot-reload and you can observe results immediately. The first time you enable it will take some time to load. this is because all of the required packages from rhino and rhino compute will be installed into your Omniverse python library via a automatic pip install. # 3rd party Libraries This project references 3rd party libraries with the following licensing Rhino.compute https://github.com/mcneel/compute.rhino3d/blob/master/LICENSE Rhino3dm https://github.com/mcneel/rhino3dm/blob/main/LICENSE Plotly https://github.com/plotly/plotly.py/blob/master/LICENSE.txt

Markdown

rcervellione-nv/omni.rhinocompute/exts/cerver.util.rhinocompute/cerver/util/rhinocompute/extension.py

# Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved. # NVIDIA CORPORATION and its licensors retain all intellectual property # and proprietary rights in and to this software, related documentation # and any modifications thereto. Any use, reproduction, disclosure or # distribution of this software and related documentation without an express # license agreement from NVIDIA CORPORATION is strictly prohibited. import omni.ext import omni.ui as ui import omni.usd from .RhinoComputeFunctions import RhinoFunctions, GrasshopperFunctions from .RhinoComputUtil import SaveSelectedAs3dm # Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be # instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled # on_shutdown() is called. class MyExtension(omni.ext.IExt): # ext_id is current extension id. It can be used with extension manager to query additional information, like where # this extension is located on filesystem. def __init__(self): self.computeUrl="http://localhost:6500/" self.progressbarprog = 0 self.progbarwindow = None self.excludeLastGroupAsLayer = False def on_startup(self, ext_id): #print("[omni.RhinoCompute] MyExtension startup") def serverAddrChanged(addr): self.computeUrl = addr self._window = ui.Window("Rhino Compute Functions", width=300, height=400) with self._window.frame: with ui.VStack(): ui.Label("Compute Server Address") serverAddrUi = ui.StringField(height = 30) serverAddrUi.model.set_value(self.computeUrl) serverAddrUi.model.add_value_changed_fn(lambda m:serverAddrChanged(m.get_value_as_string())) with ui.CollapsableFrame("Util Functions", height = 0): with ui.VStack(): ui.Button("save sel as 3dm", clicked_fn=lambda: SaveSelectedAs3dm(self,"S:/test.3dm"), height=40) ui.Button("save all as 3dm", clicked_fn=lambda: RhinoFunctions.SaveAllAs3DM_UI(self), height=40) with ui.CollapsableFrame("Mesh Functions", height = 0): with ui.VStack(): ui.Button("Volume", clicked_fn=lambda: RhinoFunctions.MeshVolume(self), height=40) ui.Button("Mesh Bool Union", clicked_fn=lambda: RhinoFunctions.MeshBoolUnion(self), height=40) ui.Button("Quad Remesh", clicked_fn=lambda: RhinoFunctions.MeshQuadRemesh(self), height=40) ui.Button("Mesh Offset", clicked_fn=lambda: RhinoFunctions.MeshOffset(self), height=40) with ui.CollapsableFrame("Grasshopper Functions", height = 0): with ui.VStack(): ui.Button("Random Diamonds Script", clicked_fn=lambda: GrasshopperFunctions.randomDiamonds_UI(self), height=40) def on_shutdown(self): print("[omni.RhinoCompute] MyExtension shutdown")

Python

rcervellione-nv/omni.rhinocompute/exts/cerver.util.rhinocompute/cerver/util/rhinocompute/RhinoComputeFunctions.py

# Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved. # NVIDIA CORPORATION and its licensors retain all intellectual property # and proprietary rights in and to this software, related documentation # and any modifications thereto. Any use, reproduction, disclosure or # distribution of this software and related documentation without an express # license agreement from NVIDIA CORPORATION is strictly prohibited. import string import omni.ext import omni.ui as ui from pxr import Usd, UsdGeom import omni.usd import carb.events import omni.kit.app import os import json import time omni.kit.pipapi.install("rhino3dm") from rhino3dm import * omni.kit.pipapi.install("compute-rhino3d") import compute_rhino3d.Util import compute_rhino3d.Mesh import compute_rhino3d.Grasshopper as gh from .RhinoComputUtil import * omni.kit.pipapi.install("plotly==5.4.0") import plotly.graph_objects as go class RhinoFunctions: def ComputeServerUrl(self): return self.computeUrl def MeshVolume(self): #add the compute server location compute_rhino3d.Util.url = self.computeUrl #convert selected items to rhino mesh meshes = convertSelectedUsdMeshToRhino() vols = [] names = [] rhinoMeshes = [] #for each mesh compute the volume and then add the volume and name to a list for m in meshes: rhinoMeshes.append(m["Mesh"]) vol = compute_rhino3d.Mesh.Volume(m["Mesh"]) vols.append(vol) names.append(m["Name"]) #use plotly to plot the volumes as a pie chart fig = go.Figure( data=[go.Pie(values=vols, labels=names)], layout_title_text="the Volumes" ) fig.show() def MeshBoolUnion(self) -> None: #add the compute server location compute_rhino3d.Util.url = self.computeUrl #convert selected items to rhino mesh meshes = convertSelectedUsdMeshToRhino() #for each mesh compute the bool union rhinoMeshes = [] for m in meshes: rhinoMeshes.append(m["Mesh"]) rhinoMeshes = compute_rhino3d.Mesh.CreateBooleanUnion(rhinoMeshes) #add to the stage after converting back from rhino to USD mesh #ToDo: add UI to define prim path and names ct=0 for rm in rhinoMeshes: RhinoMeshToUsdMesh("/World/rhinoComputed/",f"BoolUnion_{ct}",rm) def MeshQuadRemesh(self)-> None: compute_rhino3d.Util.url = self.computeUrl meshes = convertSelectedUsdMeshToRhino() #setup all the params for quad remesh #ToDo: make this a UI for user parameters = { 'AdaptiveQuadCount': True, 'AdaptiveSize': 50.0, 'DetectHardEdges': True, 'GuideCurveInfluence': 0, 'PreserveMeshArrayEdgesMode': 0, 'TargetQuadCount': 2000 } names = [] rhinoMeshes = [] for m in meshes: weldVerts = compute_rhino3d.Mesh.Weld(m["Mesh"],0.5) qrm =compute_rhino3d.Mesh.QuadRemesh(weldVerts,parameters) name = m["Name"] if qrm is not None: rhinoMeshes.append(qrm) names.append(name) RhinoMeshToUsdMesh("/World/rhinoComputed/",name+"_QuadRemesh",qrm) else: warning(f"QuadRemesh Failed on {name}") def MeshWeld(self, tol)-> None: compute_rhino3d.Util.url = self.computeUrl meshes = convertSelectedUsdMeshToRhino() names = [] rhinoMeshes = [] for m in meshes: weldVerts = compute_rhino3d.Mesh.Weld(m["Mesh"],tol) name = m["Name"] if weldVerts is not None: rhinoMeshes.append(weldVerts) names.append(name) RhinoMeshToUsdMesh("/World/rhinoComputed/",name+"_Weld",weldVerts) else: warning(f"Weld Failed on {name}") def MeshOffset(self)-> None: compute_rhino3d.Util.url = self.computeUrl meshes = convertSelectedUsdMeshToRhino() names = [] rhinoMeshes = [] for m in meshes: macf = compute_rhino3d.Mesh.Offset1(m["Mesh"],1,True) rhinoMeshes.append(macf) name = m["Name"] names.append(name) RhinoMeshToUsdMesh("/World/rhinoComputed/",name+"_offset",macf) def SaveAllAs3DM_UI(self): window_flags = ui.WINDOW_FLAGS_NO_SCROLLBAR #window_flags |= ui.WINDOW_FLAGS_NO_TITLE_BAR self.export3dmwindow = ui.Window("Export Stage As 3DM", width=300, height=130, flags=window_flags) with self.export3dmwindow.frame: with ui.VStack(): with ui.HStack(): ui.Label("Path", width=50, height = 25) path = ui.StringField( height = 25, tooltip = "Set the location and name of the file i.e c:/temp/myRhinofile.3dm") with ui.HStack( height = 35): def exLastGrpAsLayCb_changed(self, val): self.excludeLastGroupAsLayer = val print(val) exLastGrpAsLayCb = ui.CheckBox(width = 30) exLastGrpAsLayCb.model.add_value_changed_fn(lambda cb: exLastGrpAsLayCb_changed(self,cb.get_value_as_bool() ) ) ui.Label("Exlude last group as layer", width=50, height = 15) def exportbt(): SaveAllas3DM(self,path.model.get_value_as_string()) ui.Line() ui.Button("Export", clicked_fn=lambda: exportbt(), height=25) class GrasshopperFunctions: def randomDiamonds(self,uCt,vCt,rrA,rrB): compute_rhino3d.Util.url = self.computeUrl ghFile = os.path.dirname(os.path.dirname(__file__)) + "/rhinocompute/gh/randomDiamonds.ghx" selectedMeshes = convertSelectedUsdMeshToRhino() inputMesh = selectedMeshes[0]["Mesh"] # create list of input trees ghMesh = json.dumps(inputMesh.Encode()) mesh_tree = gh.DataTree("baseMesh") mesh_tree.Append([0], [ghMesh]) srfU_tree = gh.DataTree("srfU") srfU_tree.Append([0], [uCt]) srfV_tree = gh.DataTree("srfV") srfV_tree.Append([0], [vCt]) rrA_tree = gh.DataTree("RR_A") rrA_tree.Append([0], [rrA]) rrB_tree = gh.DataTree("RR_B") rrB_tree.Append([0], [rrB]) inputs = [mesh_tree, srfU_tree, srfV_tree, rrA_tree, rrB_tree] results = gh.EvaluateDefinition(ghFile, inputs) # decode results data = results['values'][0]['InnerTree']['{0}'] outMeshes = [rhino3dm.CommonObject.Decode(json.loads(item['data'])) for item in data] ct = 0 for m in outMeshes: RhinoMeshToUsdMesh("/World",f"/randomDiamonds/randomDiamonds_{ct}",m) ct+=1 def randomDiamonds_UI(self): def run(uCt,vCt,rrA,rrB): GrasshopperFunctions.randomDiamonds(self,uCt, vCt, rrA,rrB) #window_flags = ui.WINDOW_FLAGS_NO_RESIZE sliderStyle = {"border_radius":15, "background_color": 0xFFDDDDDD, "secondary_color":0xFFAAAAAA, "color":0xFF111111, "margin":3} window_flags = ui.WINDOW_FLAGS_NO_SCROLLBAR self.theWindow = ui.Window("Random Diamonds", width=300, height=200, flags=window_flags) with self.theWindow.frame: with ui.VStack(): with ui.HStack(): ui.Label("U Ct", width=40) srfU = ui.IntSlider(height= 20, min=1, max=50, style= sliderStyle ) with ui.HStack(): ui.Label("V Ct", width=40) srfV = ui.IntSlider(height= 20, min=1, max=50, style= sliderStyle ) with ui.HStack(): ui.Label("min D", width=40) rrA = ui.FloatSlider(height= 20, min=0.1, max=150, style= sliderStyle ) with ui.HStack(): ui.Label("max D", width=40) rrB = ui.FloatSlider(height= 20, min=0.1, max=150, style= sliderStyle ) srfU.model.set_value(4) srfV.model.set_value(4) rrA.model.set_value(4) rrB.model.set_value(75) srfU.model.add_value_changed_fn(lambda m:run(srfU.model.get_value_as_int(),srfV.model.get_value_as_int(),rrA.model.get_value_as_float(),rrB.model.get_value_as_float())) srfV.model.add_value_changed_fn(lambda m:run(srfU.model.get_value_as_int(),srfV.model.get_value_as_int(),rrA.model.get_value_as_float(),rrB.model.get_value_as_float())) rrA.model.add_value_changed_fn(lambda m:run(srfU.model.get_value_as_int(),srfV.model.get_value_as_int(),rrA.model.get_value_as_float(),rrB.model.get_value_as_float())) rrB.model.add_value_changed_fn(lambda m:run(srfU.model.get_value_as_int(),srfV.model.get_value_as_int(),rrA.model.get_value_as_float(),rrB.model.get_value_as_float())) ui.Line(height=10) ui.Button("Run >>", clicked_fn=lambda: GrasshopperFunctions.randomDiamonds(self, srfU.model.get_value_as_int(), srfV.model.get_value_as_int(), rrA.model.get_value_as_float(), rrB.model.get_value_as_float(), ), height=30)

Python

rcervellione-nv/omni.rhinocompute/exts/cerver.util.rhinocompute/cerver/util/rhinocompute/RhinoComputUtil.py

# Copyright (c) 2022 NVIDIA CORPORATION. All rights reserved. # NVIDIA CORPORATION and its licensors retain all intellectual property # and proprietary rights in and to this software, related documentation # and any modifications thereto. Any use, reproduction, disclosure or # distribution of this software and related documentation without an express # license agreement from NVIDIA CORPORATION is strictly prohibited. import compute_rhino3d.Util import compute_rhino3d.Mesh import compute_rhino3d.Grasshopper as gh import rhino3dm import json import omni.ext import omni.ui as ui from pxr import Usd, UsdGeom, Gf import omni.usd import asyncio def convertSelectedUsdMeshToRhino(): context = omni.usd.get_context() stage = omni.usd.get_context().get_stage() prims = [stage.GetPrimAtPath(m) for m in context.get_selection().get_selected_prim_paths() ] #filter out prims that are not mesh selected_prims = [ prim for prim in prims if UsdGeom.Mesh(prim)] #setup var to hold the mesh, its name in the dict sDict = [] #add the converted prims to the dict for m in selected_prims: sDict.append({"Name": m.GetName(), "Mesh":UsdMeshToRhinoMesh(m)}) return sDict def UsdMeshToRhinoMesh(usdMesh): #array for the mesh items vertices = [] faces = [] #get the USD points points = UsdGeom.Mesh(usdMesh).GetPointsAttr().Get() #setup the items needed to deal with world and local transforms xform_cache = UsdGeom.XformCache() mtrx_world = xform_cache.GetLocalToWorldTransform(usdMesh) #create the rhino mesh mesh = rhino3dm.Mesh() #convert the USD points to rhino points for p in points: world_p = mtrx_world.Transform(p) mesh.Vertices.Add(world_p[0],world_p[1],world_p[2]) #faces we can extend directly into the aray becaue they are just ints faces.extend( UsdGeom.Mesh(usdMesh).GetFaceVertexIndicesAttr().Get()) faceCount = UsdGeom.Mesh(usdMesh).GetFaceVertexCountsAttr().Get() ct = 0 #add the face verts, USD uses a flat list of ints so we need to deal with #3 or 4 sided faces. USD supports ngons but that is not accounted for #ToDo: Deal with ngons for i in range(0,len(faceCount)): fc=faceCount[i] if fc is 3: mesh.Faces.AddFace(faces[ct], faces[ct+1], faces[ct+2]) if fc is 4: mesh.Faces.AddFace(faces[ct], faces[ct+1], faces[ct+2], faces[ct+3]) ct+=fc #compute normals, i dont use the USD normals here but you could mesh.Normals.ComputeNormals() mesh.Compact() return mesh def save_stage(): stage = omni.usd.get_context().get_stage() stage.GetRootLayer().Save() omni.client.usd_live_process() def RhinoMeshToUsdMesh( rootUrl, meshName, rhinoMesh: rhino3dm.Mesh , primPath=None): #get the stage stage = omni.usd.get_context().get_stage() # Create the geometry inside of "Root" meshPrimPath = rootUrl + meshName mesh = UsdGeom.Mesh.Define(stage, meshPrimPath) # Add all of the vertices points = [] for i in range(0,len(rhinoMesh.Vertices)): v = rhinoMesh.Vertices[i] points.append(Gf.Vec3f(v.X, v.Y, v.Z)) mesh.CreatePointsAttr(points) # Calculate indices for each triangle faceIndices = [] faceVertexCounts = [] for i in range(0, rhinoMesh.Faces.Count): fcount=3 curf = rhinoMesh.Faces[i] faceIndices.append(curf[0]) faceIndices.append(curf[1]) faceIndices.append(curf[2]) if curf[2] != curf[3]: faceIndices.append(curf[3]) fcount=4 #print(f"{fcount} : {curf}") faceVertexCounts.append(fcount) mesh.CreateFaceVertexIndicesAttr(faceIndices) mesh.CreateFaceVertexCountsAttr(faceVertexCounts) # Add vertex normals meshNormals = [] for n in rhinoMesh.Normals: meshNormals.append(Gf.Vec3f(n.X,n.Y,n.Z)) mesh.CreateNormalsAttr(meshNormals) def SaveRhinoFile(rhinoMeshes, path): model = rhino3dm.File3dm() [ model.Objects.AddMesh(m) for m in rhinoMeshes] model.Write(path) def SaveSelectedAs3dm(self,path): selectedMeshes = convertSelectedUsdMeshToRhino() meshobj = [d['Mesh'] for d in selectedMeshes] SaveRhinoFile(meshobj, path) def SaveAllas3DM(self, path): #get the stage stage = omni.usd.get_context().get_stage() #get all prims that are meshes meshPrims = [stage.GetPrimAtPath(prim.GetPath()) for prim in stage.Traverse() if UsdGeom.Mesh(prim)] #make a rhino file rhinoFile = rhino3dm.File3dm() uniqLayers = {} #figure out how many elements there are (to implament progress bar in future) numPrims = len(meshPrims) curPrim = 0 #loop over all the meshes for mp in meshPrims: #convert from usd mesh to rhino mesh rhinoMesh = UsdMeshToRhinoMesh(mp) objName = mp.GetName() rhinoAttr = rhino3dm.ObjectAttributes() dataOnParent = False #get the properties on the prim bimProps = None parentPrim = mp.GetParent() #see if this prim has BIM properties (from revit) if parentPrim: bimProps = mp.GetPropertiesInNamespace("BIM") dataOnParent = False #see if this prims parent has BIM properties (from revit) if not bimProps: bimProps = parentPrim.GetPropertiesInNamespace("BIM") dataOnParent = True #if no bim properties just add regular ones if not bimProps : bimProps = mp.GetProperties() dataOnParent = False for p in bimProps: try: pName = p.GetBaseName() var = p.Get() rhinoAttr.SetUserString(pName, str(var)) except Exception : pass # get the prims path and use that to create nested layers in rhino primpath = str(mp.GetPath()) sepPrimPath = primpath.split('/') sepPrimPath.pop(0) sepPrimPath.pop() # this will ajust the layer structure if the data is from the revit connector # or if you just want to prune the last group in the export dialogue if dataOnParent or self.excludeLastGroupAsLayer: sepPrimPath.pop() nestedLayerName = '::'.join(sepPrimPath) ct=0 curLayer = "" #loop over all the prim paths to created the nested layers in rhino for pp in sepPrimPath: if ct == 0: curLayer += pp else: curLayer += f"::{pp}" #check if the layer exists, if not make it if not curLayer in uniqLayers : layer = rhino3dm.Layer() if ct>0: prevLayer = curLayer.split('::') prevLayer.pop() prevLayer = '::'.join(prevLayer) layer.ParentLayerId = rhinoFile.Layers.FindIndex(uniqLayers[prevLayer]).Id layer.Color = (255,255,255,255) layer.Name = pp idx = rhinoFile.Layers.Add(layer) uniqLayers[curLayer]= int(idx) ct+=1 rhinoAttr.Name = objName #print(str(uniqLayers[nestedLayerName])) rhinoAttr.LayerIndex = int(str(uniqLayers[nestedLayerName])) #add the mesh and its attributes to teh rhino file rhinoFile.Objects.AddMesh(rhinoMesh, rhinoAttr) curPrim += 1 self.progressbarprog = curPrim/numPrims #save it all rhinoFile.Write(path) print("completed saving")

Python

vinjn/llm-metahuman/README.md

# LLM MetaHuman LLM MetaHuman is an open solution for AI-powered photorealistic digital humans. ## Preparation steps - Install [Omniverse Launcher](https://www.nvidia.com/en-us/omniverse/download/) - Inside Omniverse Launcher, Install `Audio2Face`. - Install [Epic Games Store](https://store.epicgames.com/en-US/) - Inside Epic Games Store, Install Unreal Engine 5.x. - Follow [Audio2Face to UE Live Link Plugin](https://docs.omniverse.nvidia.com/audio2face/latest/user-manual/livelink-ue-plugin.html) to connect Audi2Face to Unreal Engine. ## Launch Audio2Face headless ## Launch llm.py ## Launch Unreal Engine Metahuman

Markdown

vinjn/llm-metahuman/audio-client/gen_protoc.py

import os import subprocess ROOT_DIR = os.path.dirname(os.path.abspath(__file__)) proto_src_root = os.path.normpath(os.path.join(ROOT_DIR, "proto/")) proto_dst_root = os.path.normpath(os.path.join(ROOT_DIR, ".")) proto_fpath = os.path.normpath(os.path.join(ROOT_DIR, "proto", "audio2face.proto")) cmd = [ "python", "-m", "grpc_tools.protoc", "-I", f"{proto_src_root}", f"--python_out={proto_dst_root}", f"--grpc_python_out={proto_dst_root}", f"{proto_fpath}", ] print(cmd) subprocess.call(cmd)

Python

vinjn/llm-metahuman/audio-client/llm.py

from openai import OpenAI from pydub import AudioSegment import gradio as gr import requests import os from litellm import completion import time import threading import queue import gradio_client as gc # XXX: increase requests speed # https://stackoverflow.com/a/72440253 requests.packages.urllib3.util.connection.HAS_IPV6 = False args = None CWD = os.getcwd() print("CWD:", CWD) VOICE_ACTORS = ["nova", "alloy", "echo", "fable", "onyx", "shimmer"] def timing_decorator(func): def wrapper(*args, **kwargs): start_time = time.time() result = func(*args, **kwargs) end_time = time.time() elapsed_time = end_time - start_time print(f"{func.__name__} cost: {elapsed_time:.2f} seconds.") return result return wrapper class A2fInstance: files_to_delete = [] instaces = [] def __init__(self, index) -> None: self.SERVICE_HEALTHY = False self.LIVELINK_SERVICE_HEALTHY = False self.index = index @timing_decorator def post(self, end_point, data=None, verbose=True): if not self.SERVICE_HEALTHY: return None if verbose: print(f"++ {end_point}") api_url = f"{self.base_url}/{end_point}" try: response = requests.post(api_url, json=data) if response and response.status_code == 200: if verbose: print(response.json()) return response.json() else: if verbose: print(f"Error: {response.status_code} - {response.text}") return {"Error": response.status_code, "Reason": response.text} except Exception as e: print(e) self.SERVICE_HEALTHY = False return None @timing_decorator def get(self, end_point, data=None, verbose=True): if not self.SERVICE_HEALTHY: return None if verbose: print(f"++ {end_point}") api_url = f"{self.base_url}/{end_point}" try: response = requests.get(api_url, json=data) if response.status_code == 200: if verbose: print(response.json()) return response.json() else: if verbose: print(f"Error: {response.status_code} - {response.text}") return {"Error": response.status_code, "Reason": response.text} except Exception as e: print(e) self.SERVICE_HEALTHY = False return None def player_setlooping(self, flag=True): self.post( "A2F/Player/SetLooping", {"a2f_player": args.a2f_player_id, "loop_audio": flag}, ) def player_play(self): self.post("A2F/Player/Play", {"a2f_player": args.a2f_player_id}) def player_pause(self): self.post("A2F/Player/Pause", {"a2f_player": args.a2f_player_id}) def player_setrootpath(self, dir_path): self.post( "A2F/Player/SetRootPath", {"a2f_player": args.a2f_player_id, "dir_path": dir_path}, ) def player_settrack(self, file_name): self.post( "A2F/Player/SetTrack", {"a2f_player": args.a2f_player_id, "file_name": file_name}, ) def player_gettracks(self): self.post("A2F/Player/GetTracks", {"a2f_player": args.a2f_player_id}) def player_gettime(self): response = self.post( "A2F/Player/GetTime", {"a2f_player": args.a2f_player_id}, False ) if response and response["status"] == "OK": return response["result"] else: return 0 def player_getrange(self): response = self.post( "A2F/Player/GetRange", {"a2f_player": args.a2f_player_id}, False ) if response and response["status"] == "OK": return response["result"]["work"] else: return (0, 0) def generatekeys(self): self.post("A2F/A2E/GenerateKeys", {"a2f_instance": args.a2f_instance_id}) def ActivateStreamLivelink(self, flag): self.post( "A2F/Exporter/ActivateStreamLivelink", {"node_path": args.a2f_livelink_id, "value": flag}, ) def IsStreamLivelinkConnected(self): response = self.post( "A2F/Exporter/IsStreamLivelinkConnected", {"node_path": args.a2f_livelink_id}, ) if response and response["status"] == "OK": return response["result"] else: return False def enable_audio_stream(self, flag): self.post( "A2F/Exporter/SetStreamLivelinkSettings", { "node_path": args.a2f_livelink_id, "values": {"enable_audio_stream": flag}, }, ) def set_livelink_ports( self, livelink_host, livelink_subject, livelink_port, livelink_audio_port, ): self.post( "A2F/Exporter/SetStreamLivelinkSettings", { "node_path": args.a2f_livelink_id, "values": { "livelink_host": livelink_host, "livelink_subject": livelink_subject, "livelink_port": livelink_port, "audio_port": livelink_audio_port, }, }, ) def get_preprocessing(self): response = self.post( "A2F/PRE/GetSettings", {"a2f_instance": args.a2f_instance_id}, ) if response and response["status"] == "OK": return response["result"] else: return {} def set_preprocessing(self, settings): settings["a2f_instance"] = args.a2f_instance_id self.post("A2F/PRE/SetSettings", settings) def get_postprocessing(self): response = self.post( "A2F/POST/GetSettings", {"a2f_instance": args.a2f_instance_id}, ) if response and response["status"] == "OK": return response["result"] else: return {} def set_postprocessing(self, settings): self.post( "A2F/POST/SetSettings", {"a2f_instance": args.a2f_instance_id, "settings": settings}, ) def setup(self): self.base_url = f"http://{args.a2f_host}:{args.a2f_port+self.index}" self.tts_voice = args.tts_voice if self.index > 0: # TODO: make it elegant self.tts_voice = VOICE_ACTORS[self.index % len(VOICE_ACTORS)] # always ping SERVICE_HEALTHY again in setup() self.SERVICE_HEALTHY = True self.ActivateStreamLivelink(True) if not self.SERVICE_HEALTHY: return self.player_setrootpath(CWD) self.player_setlooping(False) self.LIVELINK_SERVICE_HEALTHY = self.IsStreamLivelinkConnected() if not self.LIVELINK_SERVICE_HEALTHY: return self.enable_audio_stream(True) self.set_livelink_ports( args.livelink_host, f"{args.livelink_subject}-{self.index}", args.livelink_port + 10 * self.index, args.livelink_audio_port + 10 * self.index, ) pre_settings = self.get_preprocessing() pre_settings["prediction_delay"] = 0 pre_settings["blink_interval"] = 1.5 self.set_preprocessing(pre_settings) post_settings = self.get_postprocessing() post_settings["skin_strength"] = 1.3 self.set_postprocessing(post_settings) A2fInstance.instaces = [] openai_client = OpenAI() gc_client: gc.Client = None chat_ui: gr.ChatInterface = None def run_single_pipeline(a2f, answer, a2f_peer=None): global stop_current_a2f_play if not a2f_peer: a2f_peer = a2f # print(answer) mp3_file = text_to_mp3(answer, a2f.tts_voice) wav_file = mp3_to_wav(mp3_file) duration = a2f_peer.player_getrange()[1] position = a2f_peer.player_gettime() while position > 0 and position < duration: print(position, duration) if stop_current_a2f_play: print("stop_current_a2f_play") stop_current_a2f_play = False return time.sleep(1) position = a2f_peer.player_gettime() print("z") time.sleep(1) a2f.player_setrootpath(CWD) a2f.player_settrack(wav_file) # a2f_generatekeys() a2f.player_play() for file in A2fInstance.files_to_delete: try: os.remove(file) except Exception: pass A2fInstance.files_to_delete.clear() A2fInstance.files_to_delete.append(mp3_file) A2fInstance.files_to_delete.append(wav_file) current_speaker = -1 @timing_decorator def run_pipeline(answer): if args.a2f_instance_count == 1: run_single_pipeline(A2fInstance.instaces[0], answer) return global current_speaker if answer.startswith("("): current_speaker = -1 elif answer.startswith("A:"): current_speaker = 0 answer = answer[2:] elif answer.startswith("B:"): current_speaker = 1 answer = answer[2:] if current_speaker < 0 or current_speaker >= args.a2f_instance_count: return a2f = A2fInstance.instaces[current_speaker] if not a2f.SERVICE_HEALTHY: return run_single_pipeline(a2f, answer) @timing_decorator def text_to_mp3(text, voice): response = openai_client.audio.speech.create( model=args.tts_model, voice=voice, speed=args.tts_speed, input=text, ) timestamp = time.time() mp3_filename = f"{timestamp}.mp3" response.stream_to_file(mp3_filename) return mp3_filename @timing_decorator def mp3_to_wav(mp3_filename): sound = AudioSegment.from_mp3(mp3_filename) sound = sound.set_frame_rate(22050) wav_filename = f"{mp3_filename}.wav" sound.export(wav_filename, format="wav") return wav_filename @timing_decorator def get_completion(chat_history): response = completion( model=args.llm_model, messages=chat_history, api_base=args.llm_url, stream=args.llm_streaming, ) print(response) return response q = queue.Queue() cleanup_queue = False stop_current_a2f_play = False def pipeline_worker(): while True: print("--------------------------") global cleanup_queue global stop_current_a2f_play if cleanup_queue: while not q.empty(): item = q.get() q.task_done() if item == "cleanup_queue_token": break cleanup_queue = False stop_current_a2f_play = True item = q.get() if item == "cleanup_queue_token": continue print(f"Begin: {item}") run_pipeline(item) print(f"End: {item}") q.task_done() def talk_to_peer(message): if not gc_client: return result = gc_client.predict( message, api_name="/chat" # str in 'Message' Textbox component ) print(f"from peer: {result}") # chat_ui.textbox.submit(None, [result, result]) # chat_ui.textbox.submit() def predict(message, history): print("==========================") if message == "setup": str = "" for a2f in A2fInstance.instaces: a2f.setup() str += f"A2F running: {a2f.SERVICE_HEALTHY}\n" str += f"Live Link running: {a2f.LIVELINK_SERVICE_HEALTHY}\n" yield str return if message == "ping": for a2f in A2fInstance.instaces: a2f.post("") a2f.get("") yield "A2F ping" return if message == "redo": for a2f in A2fInstance.instaces: a2f.player_play() yield "A2F redo" return if message == "stop": global cleanup_queue cleanup_queue = True q.put("cleanup_queue_token") yield "stopped" return if message.startswith("peer"): items = message.split() if len(items) >= 2: gradio_port = int(items[1]) # TODO: support non localhost args.gradio_peer_url = f"http://{args.gradio_host}:{gradio_port}/" global gc_client gc_client = gc.Client(args.gradio_peer_url) yield f"I will chat with another llm-metahuman: {args.gradio_peer_url}" return history_openai_format = [] for human, assistant in history: history_openai_format.append({"role": "user", "content": human}) history_openai_format.append({"role": "assistant", "content": assistant}) history_openai_format.append({"role": "user", "content": message}) # start_time = time.time() response = get_completion(history_openai_format) yield ".." # global cleanup_queue # cleanup_queue = True # q.put("cleanup_queue_token") if args.llm_streaming: # create variables to collect the stream of chunks UNUSED_collected_chunks = [] collected_messages = [] complete_sentences = "" # iterate through the stream of events for chunk in response: # chunk_time = ( # time.time() - start_time # ) # calculate the time delay of the chunk UNUSED_collected_chunks.append(chunk) # save the event response chunk_message = chunk.choices[0].delta.content # extract the message if not chunk_message: continue collected_messages.append(chunk_message) # save the message # print( # f"Message {chunk_time:.2f} s after request: {chunk_message}" # ) # print the delay and text print(chunk_message) if chunk_message in [ ".", "!", "?", "。", "!", "？", ] or chunk_message.endswith("\n"): # if not chunk_message or "\n" in chunk_message: one_sentence = "".join([m for m in collected_messages if m is not None]) if len(one_sentence) < 10: # ignore short sentences continue collected_messages = [] complete_sentences += one_sentence q.put(one_sentence) # run_pipeline(one_sentence) yield complete_sentences talk_to_peer(one_sentence) # print the time delay and text received # print(f"Full response received {chunk_time:.2f} seconds after request") # # clean None in collected_messages # collected_messages = [m for m in collected_messages if m is not None] # full_reply_content = "".join([m for m in collected_messages]) # print(f"Full conversation received: {full_reply_content}") # yield full_reply_content else: if len(response.choices[0].message.content) == 0: return answer = response.choices[0].message.content yield answer run_pipeline(answer) def main(): import argparse parser = argparse.ArgumentParser(description="llm.py arguments") # gradio settings parser.add_argument("--a2f_instance_count", type=int, default=1) parser.add_argument("--gradio_host", default="localhost") parser.add_argument("--gradio_port", type=int, default=7860) parser.add_argument( "--gradio_peer_url", default=None, help="the gradio peer that this gradio instance will chat with. Default value is None, which means chat with a human.", ) # llm / litellm settings parser.add_argument("--llm_engine", default="gpt", choices=["gpt", "llama2"]) parser.add_argument( "--llm_model", default=None, help="https://docs.litellm.ai/docs/providers" ) parser.add_argument("--llm_url", default=None) parser.add_argument( "--llm_streaming", default=True, action=argparse.BooleanOptionalAction ) # audio2face settings parser.add_argument("--a2f_host", default="localhost") parser.add_argument("--a2f_port", default=8011, type=int) parser.add_argument("--a2f_instance_id", default="/World/audio2face/CoreFullface") parser.add_argument("--a2f_player_id", default="/World/audio2face/Player") parser.add_argument("--a2f_livelink_id", default="/World/audio2face/StreamLivelink") # tts settings parser.add_argument("--tts_model", default="tts-1", choices=["tts-1", "tts-1-hd"]) parser.add_argument("--tts_speed", default=1.1, type=float) # livelink settings parser.add_argument("--livelink_host", default="localhost") parser.add_argument("--livelink_port", default=12030, type=int) parser.add_argument("--livelink_subject", default="Audio2Face") parser.add_argument("--livelink_audio_port", default=12031, type=int) parser.add_argument( "--tts_voice", default="nova", choices=VOICE_ACTORS, help="https://platform.openai.com/docs/guides/text-to-speech", ) global args args = parser.parse_args() if not args.llm_model: if args.llm_engine == "gpt": args.llm_model = args.llm_model or "gpt-3.5-turbo" elif args.llm_engine == "llama2": args.llm_model = args.llm_model or "ollama/llama2" args.llm_url = args.llm_url or "http://localhost:11434" threading.Thread(target=pipeline_worker, daemon=True).start() for i in range(args.a2f_instance_count): a2f = A2fInstance(i) a2f.setup() A2fInstance.instaces.append(a2f) global chat_ui chat_ui = gr.ChatInterface( predict, title=f"llm-metahuman @{args.gradio_port}", examples=["hello", "tell me 3 jokes", "what's the meaning of life?"], ) chat_ui.queue().launch(server_name=args.gradio_host, server_port=args.gradio_port) q.join() if __name__ == "__main__": main()

Python

vinjn/llm-metahuman/audio-client/ref/pytts-demo.py

import pyttsx3 engine = pyttsx3.init() # object creation """ RATE""" rate = engine.getProperty("rate") # getting details of current speaking rate print(rate) # printing current voice rate engine.setProperty("rate", 125) # setting up new voice rate """VOLUME""" volume = engine.getProperty( "volume" ) # getting to know current volume level (min=0 and max=1) print(volume) # printing current volume level engine.setProperty("volume", 1.0) # setting up volume level between 0 and 1 """VOICE""" voices = engine.getProperty("voices") # getting details of current voice print(voices) engine.setProperty("voice", voices[0].id) # changing index, changes voices. o for male # engine.setProperty('voice', voices[1].id) #changing index, changes voices. 1 for female engine.say("Hello World!") engine.say("说什么 current speaking rate is " + str(rate)) engine.runAndWait() engine.stop() """Saving Voice to a file""" # On linux make sure that 'espeak' and 'ffmpeg' are installed engine.save_to_file("Hello World", "test.mp3") engine.runAndWait()

Python

vinjn/llm-metahuman/audio-client/ref/minimal-chatbot.py

import random import gradio as gr def alternatingly_agree(message, history): if len(history) % 2 == 0: return f"Yes, I do think that '{message}'" else: return "I don't think so" count = 0 def textbox_update(chatui_textbox): global count count += 1 if count % 10 == 0: return "z" else: return chatui_textbox if __name__ == "__main__": with gr.ChatInterface(alternatingly_agree) as chat_ui: chat_ui.textbox.change( textbox_update, chat_ui.textbox, chat_ui.textbox, every=1, trigger_mode="once", ) chat_ui.launch()

Python

vinjn/llm-metahuman/audio-client/ref/portal.py

import gradio as gr def task1(input_text): return "Task 1 Result: " + input_text def task2(input_image): return "Task 2 Result" def task3(input_image): return "Task 2 Result" # interface one iface1 = gr.Interface( fn=task1, inputs="text", outputs="text", title="Multi-Page Interface" ) # interface two iface2 = gr.Interface( fn=task2, inputs="image", outputs="text", title="Multi-Page Interface" ) tts_examples = [ "I love learning machine learning", "How do you do?", ] tts_demo = gr.load( "huggingface/facebook/fastspeech2-en-ljspeech", title=None, examples=tts_examples, description="Give me something to say!", cache_examples=False, ) stt_demo = gr.load( "huggingface/facebook/wav2vec2-base-960h", title=None, inputs="mic", description="Let me try to guess what you're saying!", ) demo = gr.TabbedInterface( [iface1, iface2, tts_demo, stt_demo], ["Text-to-text", "image-to-text", "Text-to-speech", "Speech-to-text"], ) # Run the interface demo.launch(share=True)

Python

vinjn/llm-metahuman/audio-client/ref/sine-curve.py

import math import gradio as gr import plotly.express as px import numpy as np plot_end = 2 * math.pi def get_plot(period=1): global plot_end x = np.arange(plot_end - 2 * math.pi, plot_end, 0.02) y = np.sin(2*math.pi*period * x) fig = px.line(x=x, y=y) plot_end += 2 * math.pi if plot_end > 1000: plot_end = 2 * math.pi return fig with gr.Blocks() as demo: with gr.Row(): with gr.Column(): gr.Markdown("Change the value of the slider to automatically update the plot") period = gr.Slider(label="Period of plot", value=1, minimum=0, maximum=10, step=1) plot = gr.Plot(label="Plot (updates every half second)") dep = demo.load(get_plot, None, plot, every=1) period.change(get_plot, period, plot, every=1, cancels=[dep]) if __name__ == "__main__": demo.queue().launch()

Python

mnaskret/omni-tetGen/README.md

# omni-tetGen An omniverse extension to generate soft body meshes  ## Description: omni-tetGen uses the famous tetgen mesh generator developed by Hang Si to create tetrahedral and edge meshes for soft body simulation. The extension allows for a user-friendly drag-and-drop mechanism for input mesh data in standard .obj format. Then, it runs the python tetgen wrapper to create meshes which are converted to numpy arrays and described with additional infomration like edges rest lengths or tetrahedra volumes. Generated mesh is added to the stage with additional attributes: - edge - edgesRestLengths - elem - tetrahedronsRestVolumes - inverseMasses  ## PBD .ogn node Additionally, an omniverse node with a simple Position Based Dynamics algorithm implementation with CUDA kernels is attached in order to test generated meshes.  ## Usage - [Install omniverse](https://www.nvidia.com/en-us/omniverse/) with e.g. create environment - Go to: Window -> Extensions -> Gear icon -> Add extension search path: `git://github.com/mnaskret/omni-tetGen.git?branch=main` - Find Tetrahedralizer in the list of extensions and turn it on (preferably with autoload) - In the Tetrahedralizer window you can drop any .obj file from Omniverse Content browser, choose preferred options and generate a cool mesh - Add a graph with PBDBasicGravity node or create your own node that utilizes mesh extra attributes to have fun with your mesh

Markdown

mnaskret/omni-tetGen/mnresearch/tetgen/extension.py

import omni.ext import omni.ui as ui import omni.kit.commands as commands import pxr from pxr import Sdf import numpy as np import tetgenExt import os import math import warp as wp class MyExtension(omni.ext.IExt): fileUrl = '' def drop_accept(url, ext): # Accept drops of specific extension only print("File dropped") return url.endswith(ext) def drop(widget, event): widget.text = event.mime_data MyExtension.fileUrl = event.mime_data def drop_area(self, ext): # If drop is acceptable, the rectangle is blue style = {} style["Rectangle"] = {"background_color": 0xFF999999} style["Rectangle:drop"] = {"background_color": 0xFF994400} stack = ui.ZStack() with stack: ui.Rectangle(style=style) text = ui.Label(f"Accepts {ext}", alignment=ui.Alignment.CENTER, word_wrap=True) self.fileUrl = stack.set_accept_drop_fn(lambda d, e=ext: MyExtension.drop_accept(d, e)) stack.set_drop_fn(lambda a, w=text: MyExtension.drop(w, a)) def createMesh(usd_context, stage, meshName): commands.execute('CreateReferenceCommand', usd_context=usd_context, path_to='/World/' + meshName, asset_path=MyExtension.fileUrl, instanceable=True) prim = stage.GetPrimAtPath('/World/' + meshName + '/' + meshName + '/' + meshName) return prim def addAttributes(stage, prim, node, elem, face, edge, normals, colors, meshName): numberOfTris = int(face.shape[0] / 3) faceCount = np.full((numberOfTris), 3) mesh = pxr.PhysicsSchemaTools.createMesh(stage, pxr.Sdf.Path('/World/' + meshName + 'Mesh'), node.tolist(), normals.tolist(), face.tolist(), faceCount.tolist()) newPrim = stage.GetPrimAtPath('/World/' + meshName + 'Mesh') velocitiesNP = np.zeros_like(node) inverseMasses = np.ones(len(node), dtype=float) edgesRestLengths = np.zeros(len(edge), dtype=float) tetrahedronsRestVolumes = np.zeros(len(elem), dtype=float) for i in range(len(edge)): edgesRestLengths[i] = np.linalg.norm(node[edge[i][0]] - node[edge[i][1]]) for i in range(len(elem)): tetrahedronPositionA = node[elem[i][0]] tetrahedronPositionB = node[elem[i][1]] tetrahedronPositionC = node[elem[i][2]] tetrahedronPositionD = node[elem[i][3]] p1 = tetrahedronPositionB - tetrahedronPositionA p2 = tetrahedronPositionC - tetrahedronPositionA p3 = tetrahedronPositionD - tetrahedronPositionA volume = wp.dot(wp.cross(p1, p2), p3) / 6.0 tetrahedronsRestVolumes[i] = volume velocitiesValue = pxr.Vt.Vec3fArray().FromNumpy(velocitiesNP) elemValue = pxr.Vt.Vec4iArray().FromNumpy(elem) edgeValue = pxr.Vt.Vec2iArray().FromNumpy(edge) edgesRestLengthsValue = pxr.Vt.FloatArray().FromNumpy(edgesRestLengths) inverseMassesValue = pxr.Vt.FloatArray().FromNumpy(inverseMasses) tetrahedronsRestVolumesValue = pxr.Vt.FloatArray().FromNumpy(tetrahedronsRestVolumes) elemAtt = newPrim.CreateAttribute('elem', Sdf.ValueTypeNames.Int4Array) edgeAtt = newPrim.CreateAttribute('edge', Sdf.ValueTypeNames.Int2Array) edgesRestLengthsAtt = newPrim.CreateAttribute('edgesRestLengths', Sdf.ValueTypeNames.FloatArray) inverseMassesAtt = newPrim.CreateAttribute('inverseMasses', Sdf.ValueTypeNames.FloatArray) tetrahedronsRestVolumesAtt = newPrim.CreateAttribute('tetrahedronsRestVolumes', Sdf.ValueTypeNames.FloatArray) velocitiesAtt = newPrim.GetAttribute('velocities') velocitiesAtt.Set(velocitiesValue) elemAtt.Set(elemValue) edgeAtt.Set(edgeValue) edgesRestLengthsAtt.Set(edgesRestLengthsValue) inverseMassesAtt.Set(inverseMassesValue) tetrahedronsRestVolumesAtt.Set(tetrahedronsRestVolumesValue) return mesh, newPrim def extractMeshDataToNP(prim): points = prim.GetAttribute('points').Get() faces = prim.GetAttribute('faceVertexIndices').Get() pointsNP = np.array(points, dtype=float) facesNP = np.array(faces, dtype=int) facesNP = facesNP.reshape((-1, 3)) return pointsNP, facesNP def setPLC(self, value): self.PLC = value def setQuality(self, value): self.Quality = value def cross(a, b): c = [a[1]*b[2] - a[2]*b[1], a[2]*b[0] - a[0]*b[2], a[0]*b[1] - a[1]*b[0]] return c def calculateNormals(node, face): numberOfTris = int(face.shape[0] / 3) normals = np.empty_like(node) for i in range(numberOfTris): pIdA = face[i][0] pIdB = face[i][1] pIdC = face[i][2] pA = node[pIdA] pB = node[pIdB] pC = node[pIdC] vA = pB - pA vB = pC - pA normal = MyExtension.cross(vA, vB) normalized = np.linalg.norm(normal) normals[pIdA] += normalized normals[pIdB] += normalized normals[pIdC] += normalized return normals def on_startup(self, ext_id): print("[mnresearch.tetgen] MyExtension startup") self._window = ui.Window("Tetrahedralizer", width=300, height=300) with self._window.frame: self.PLC = False self.Quality = False with ui.VStack(): MyExtension.drop_area(self, ".obj") with ui.HStack(): ui.Label("PLC", height=0) plcCB = ui.CheckBox(width=20) plcCB.model.add_value_changed_fn( lambda a: MyExtension.setPLC(self, a.get_value_as_bool())) with ui.HStack(): ui.Label("Quality", height=0) qualityCB = ui.CheckBox(width=20) qualityCB.model.add_value_changed_fn( lambda a: MyExtension.setQuality(self, a.get_value_as_bool())) def on_click(): print("clicked!") self.usd_context = omni.usd.get_context() self.stage = self.usd_context.get_stage() if MyExtension.fileUrl != "": meshName = MyExtension.fileUrl.split(os.sep)[-1][:-4] prim = MyExtension.createMesh(self.usd_context, self.stage, meshName) points, faces = MyExtension.extractMeshDataToNP(prim) tet = tetgenExt.TetGen(points, faces) print('Running tetGen on: ', MyExtension.fileUrl, '\nwith options:', 'PLC: ', self.PLC, '\nQuality: ', self.Quality) node, elem, face, edge = tet.tetrahedralize(quality=True, plc=True, facesout=1, edgesout=1) normals = MyExtension.calculateNormals(node, face) colors = np.ones_like(normals) face = face.ravel() mesh, newPrim = MyExtension.addAttributes(self.stage, prim, node, elem, face, edge, normals, colors, meshName) pxr.Usd.Stage.RemovePrim(self.stage, '/World/' + meshName) ui.Button("Generate tetrahedral mesh", clicked_fn=lambda: on_click()) def on_shutdown(self): print("[mnresearch.tetgen] MyExtension shutdown")

Python

mnaskret/omni-tetGen/mnresearch/tetgen/PBDBasicGravityDatabase.py

"""Support for simplified access to data on nodes of type mnresearch.tetgen.PBDBasicGravity PBDBasicGravity """ import omni.graph.core as og import traceback import sys import numpy class PBDBasicGravityDatabase(og.Database): """Helper class providing simplified access to data on nodes of type mnresearch.tetgen.PBDBasicGravity Class Members: node: Node being evaluated Attribute Value Properties: Inputs: inputs.edge inputs.edgesRestLengths inputs.elem inputs.gravity inputs.ground inputs.inverseMasses inputs.ks_distance inputs.ks_volume inputs.num_substeps inputs.points inputs.sim_constraints inputs.tetrahedronsRestVolumes inputs.velocities inputs.velocity_dampening Outputs: outputs.points outputs.velocities """ # This is an internal object that provides per-class storage of a per-node data dictionary PER_NODE_DATA = {} # This is an internal object that describes unchanging attributes in a generic way # The values in this list are in no particular order, as a per-attribute tuple # Name, Type, ExtendedTypeIndex, UiName, Description, Metadata, Is_Required, DefaultValue # You should not need to access any of this data directly, use the defined database interfaces INTERFACE = og.Database._get_interface([ ('inputs:edge', 'int2[]', 0, None, 'Input edges', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:edgesRestLengths', 'float[]', 0, None, 'Input edges rest lengths', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:elem', 'int4[]', 0, None, 'Input tetrahedrons', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:gravity', 'vector3f', 0, None, 'Gravity constant', {og.MetadataKeys.DEFAULT: '[0.0, -9.8, 0.0]'}, True, [0.0, -9.8, 0.0]), ('inputs:ground', 'float', 0, None, 'Ground level', {og.MetadataKeys.DEFAULT: '-100.0'}, True, -100.0), ('inputs:inverseMasses', 'float[]', 0, None, 'Inverse masses', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:ks_distance', 'float', 0, None, '', {og.MetadataKeys.DEFAULT: '1.0'}, True, 1.0), ('inputs:ks_volume', 'float', 0, None, '', {og.MetadataKeys.DEFAULT: '1.0'}, True, 1.0), ('inputs:num_substeps', 'int', 0, None, '', {og.MetadataKeys.DEFAULT: '8'}, True, 8), ('inputs:points', 'point3f[]', 0, None, 'Input points', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:sim_constraints', 'int', 0, None, '', {og.MetadataKeys.DEFAULT: '1'}, True, 1), ('inputs:tetrahedronsRestVolumes', 'float[]', 0, None, 'Input tetrahedrons rest volumes', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:velocities', 'vector3f[]', 0, None, 'Input velocities', {og.MetadataKeys.DEFAULT: '[]'}, True, []), ('inputs:velocity_dampening', 'float', 0, None, '', {og.MetadataKeys.DEFAULT: '0.1'}, True, 0.1), ('outputs:points', 'point3f[]', 0, None, 'Output points', {}, True, None), ('outputs:velocities', 'vector3f[]', 0, None, 'Output velocities', {}, True, None), ]) @classmethod def _populate_role_data(cls): """Populate a role structure with the non-default roles on this node type""" role_data = super()._populate_role_data() role_data.inputs.gravity = og.Database.ROLE_VECTOR role_data.inputs.points = og.Database.ROLE_POINT role_data.inputs.velocities = og.Database.ROLE_VECTOR role_data.outputs.points = og.Database.ROLE_POINT role_data.outputs.velocities = og.Database.ROLE_VECTOR return role_data class ValuesForInputs(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to input attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) @property def edge(self): data_view = og.AttributeValueHelper(self._attributes.edge) return data_view.get() @edge.setter def edge(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.edge) data_view = og.AttributeValueHelper(self._attributes.edge) data_view.set(value) self.edge_size = data_view.get_array_size() @property def edgesRestLengths(self): data_view = og.AttributeValueHelper(self._attributes.edgesRestLengths) return data_view.get() @edgesRestLengths.setter def edgesRestLengths(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.edgesRestLengths) data_view = og.AttributeValueHelper(self._attributes.edgesRestLengths) data_view.set(value) self.edgesRestLengths_size = data_view.get_array_size() @property def elem(self): data_view = og.AttributeValueHelper(self._attributes.elem) return data_view.get() @elem.setter def elem(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.elem) data_view = og.AttributeValueHelper(self._attributes.elem) data_view.set(value) self.elem_size = data_view.get_array_size() @property def gravity(self): data_view = og.AttributeValueHelper(self._attributes.gravity) return data_view.get() @gravity.setter def gravity(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.gravity) data_view = og.AttributeValueHelper(self._attributes.gravity) data_view.set(value) @property def ground(self): data_view = og.AttributeValueHelper(self._attributes.ground) return data_view.get() @ground.setter def ground(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.ground) data_view = og.AttributeValueHelper(self._attributes.ground) data_view.set(value) @property def inverseMasses(self): data_view = og.AttributeValueHelper(self._attributes.inverseMasses) return data_view.get() @inverseMasses.setter def inverseMasses(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.inverseMasses) data_view = og.AttributeValueHelper(self._attributes.inverseMasses) data_view.set(value) self.inverseMasses_size = data_view.get_array_size() @property def ks_distance(self): data_view = og.AttributeValueHelper(self._attributes.ks_distance) return data_view.get() @ks_distance.setter def ks_distance(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.ks_distance) data_view = og.AttributeValueHelper(self._attributes.ks_distance) data_view.set(value) @property def ks_volume(self): data_view = og.AttributeValueHelper(self._attributes.ks_volume) return data_view.get() @ks_volume.setter def ks_volume(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.ks_volume) data_view = og.AttributeValueHelper(self._attributes.ks_volume) data_view.set(value) @property def num_substeps(self): data_view = og.AttributeValueHelper(self._attributes.num_substeps) return data_view.get() @num_substeps.setter def num_substeps(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.num_substeps) data_view = og.AttributeValueHelper(self._attributes.num_substeps) data_view.set(value) @property def points(self): data_view = og.AttributeValueHelper(self._attributes.points) return data_view.get() @points.setter def points(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.points) data_view = og.AttributeValueHelper(self._attributes.points) data_view.set(value) self.points_size = data_view.get_array_size() @property def sim_constraints(self): data_view = og.AttributeValueHelper(self._attributes.sim_constraints) return data_view.get() @sim_constraints.setter def sim_constraints(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.sim_constraints) data_view = og.AttributeValueHelper(self._attributes.sim_constraints) data_view.set(value) @property def tetrahedronsRestVolumes(self): data_view = og.AttributeValueHelper(self._attributes.tetrahedronsRestVolumes) return data_view.get() @tetrahedronsRestVolumes.setter def tetrahedronsRestVolumes(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.tetrahedronsRestVolumes) data_view = og.AttributeValueHelper(self._attributes.tetrahedronsRestVolumes) data_view.set(value) self.tetrahedronsRestVolumes_size = data_view.get_array_size() @property def velocities(self): data_view = og.AttributeValueHelper(self._attributes.velocities) return data_view.get() @velocities.setter def velocities(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.velocities) data_view = og.AttributeValueHelper(self._attributes.velocities) data_view.set(value) self.velocities_size = data_view.get_array_size() @property def velocity_dampening(self): data_view = og.AttributeValueHelper(self._attributes.velocity_dampening) return data_view.get() @velocity_dampening.setter def velocity_dampening(self, value): if self._setting_locked: raise og.ReadOnlyError(self._attributes.velocity_dampening) data_view = og.AttributeValueHelper(self._attributes.velocity_dampening) data_view.set(value) class ValuesForOutputs(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to output attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) self.points_size = None self.velocities_size = None @property def points(self): data_view = og.AttributeValueHelper(self._attributes.points) return data_view.get(reserved_element_count = self.points_size) @points.setter def points(self, value): data_view = og.AttributeValueHelper(self._attributes.points) data_view.set(value) self.points_size = data_view.get_array_size() @property def velocities(self): data_view = og.AttributeValueHelper(self._attributes.velocities) return data_view.get(reserved_element_count = self.velocities_size) @velocities.setter def velocities(self, value): data_view = og.AttributeValueHelper(self._attributes.velocities) data_view.set(value) self.velocities_size = data_view.get_array_size() class ValuesForState(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to state attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) def __init__(self, node): super().__init__(node) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT) self.inputs = PBDBasicGravityDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT) self.outputs = PBDBasicGravityDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE) self.state = PBDBasicGravityDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes) class abi: """Class defining the ABI interface for the node type""" @staticmethod def get_node_type(): get_node_type_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'get_node_type', None) if callable(get_node_type_function): return get_node_type_function() return 'mnresearch.tetgen.PBDBasicGravity' @staticmethod def compute(context, node): db = PBDBasicGravityDatabase(node) try: db.inputs._setting_locked = True compute_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'compute', None) if callable(compute_function) and compute_function.__code__.co_argcount > 1: return compute_function(context, node) return PBDBasicGravityDatabase.NODE_TYPE_CLASS.compute(db) except Exception as error: stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next)) db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False) finally: db.inputs._setting_locked = False return False @staticmethod def initialize(context, node): PBDBasicGravityDatabase._initialize_per_node_data(node) # Set any default values the attributes have specified if not node._do_not_use(): db = PBDBasicGravityDatabase(node) db.inputs.edge = [] db.inputs.edgesRestLengths = [] db.inputs.elem = [] db.inputs.gravity = [0.0, -9.8, 0.0] db.inputs.ground = -100.0 db.inputs.inverseMasses = [] db.inputs.ks_distance = 1.0 db.inputs.ks_volume = 1.0 db.inputs.num_substeps = 8 db.inputs.points = [] db.inputs.sim_constraints = 1 db.inputs.tetrahedronsRestVolumes = [] db.inputs.velocities = [] db.inputs.velocity_dampening = 0.1 initialize_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'initialize', None) if callable(initialize_function): initialize_function(context, node) @staticmethod def release(node): release_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'release', None) if callable(release_function): release_function(node) PBDBasicGravityDatabase._release_per_node_data(node) @staticmethod def update_node_version(context, node, old_version, new_version): update_node_version_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'update_node_version', None) if callable(update_node_version_function): return update_node_version_function(context, node, old_version, new_version) return False @staticmethod def initialize_type(node_type): initialize_type_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'initialize_type', None) needs_initializing = True if callable(initialize_type_function): needs_initializing = initialize_type_function(node_type) if needs_initializing: node_type.set_metadata(og.MetadataKeys.EXTENSION, "mnresearch.tetgen") node_type.set_metadata(og.MetadataKeys.UI_NAME, "PBDBasicGravity") node_type.set_metadata(og.MetadataKeys.DESCRIPTION, "PBDBasicGravity") node_type.set_metadata(og.MetadataKeys.LANGUAGE, "Python") PBDBasicGravityDatabase.INTERFACE.add_to_node_type(node_type) @staticmethod def on_connection_type_resolve(node): on_connection_type_resolve_function = getattr(PBDBasicGravityDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None) if callable(on_connection_type_resolve_function): on_connection_type_resolve_function(node) NODE_TYPE_CLASS = None GENERATOR_VERSION = (1, 4, 0) TARGET_VERSION = (2, 29, 1) @staticmethod def register(node_type_class): PBDBasicGravityDatabase.NODE_TYPE_CLASS = node_type_class og.register_node_type(PBDBasicGravityDatabase.abi, 1) @staticmethod def deregister(): og.deregister_node_type("mnresearch.tetgen.PBDBasicGravity")

Python

mnaskret/omni-tetGen/mnresearch/tetgen/ogn/nodes/PBDBasicGravity.py

""" This is the implementation of the OGN node defined in OgnNewNode.ogn """ # Array or tuple values are accessed as numpy arrays so you probably need this import import math import numpy as np import warp as wp import omni.timeline from pxr import Usd, UsdGeom, Gf, Sdf @wp.kernel def boundsKer(predictedPositions: wp.array(dtype=wp.vec3), groundLevel: float): tid = wp.tid() x = predictedPositions[tid] if(x[1] < groundLevel): predictedPositions[tid] = wp.vec3(x[0], groundLevel, x[2]) @wp.kernel def PBDStepKer(positions: wp.array(dtype=wp.vec3), predictedPositions: wp.array(dtype=wp.vec3), velocities: wp.array(dtype=wp.vec3), dT: float): tid = wp.tid() x = positions[tid] xPred = predictedPositions[tid] v = (xPred - x)*(1.0/dT) x = xPred positions[tid] = x velocities[tid] = v @wp.kernel def gravityKer(positions: wp.array(dtype=wp.vec3), predictedPositions: wp.array(dtype=wp.vec3), velocities: wp.array(dtype=wp.vec3), gravityConstant: wp.vec3, velocityDampening: float, dt: float): tid = wp.tid() x = positions[tid] v = velocities[tid] velocityDampening = 1.0 - velocityDampening v = v + gravityConstant*dt*velocityDampening xPred = x + v*dt predictedPositions[tid] = xPred @wp.kernel def distanceConstraints(predictedPositions: wp.array(dtype=wp.vec3), dP: wp.array(dtype=wp.vec3), constraintsNumber: wp.array(dtype=int), edgesA: wp.array(dtype=int), edgesB: wp.array(dtype=int), edgesRestLengths: wp.array(dtype=float), inverseMasses: wp.array(dtype=float), kS: float): tid = wp.tid() edgeIndexA = edgesA[tid] edgeIndexB = edgesB[tid] edgePositionA = predictedPositions[edgeIndexA] edgePositionB = predictedPositions[edgeIndexB] edgeRestLength = edgesRestLengths[tid] dir = edgePositionA - edgePositionB len = wp.length(dir) inverseMass = inverseMasses[edgeIndexA] + inverseMasses[edgeIndexB] edgeDP = (len-edgeRestLength) * wp.normalize(dir) * kS / inverseMass wp.atomic_sub(dP, edgeIndexA, edgeDP) wp.atomic_add(dP, edgeIndexB, edgeDP) wp.atomic_add(constraintsNumber, edgeIndexA, 1) wp.atomic_add(constraintsNumber, edgeIndexB, 1) @wp.kernel def volumeConstraints(predictedPositions: wp.array(dtype=wp.vec3), dP: wp.array(dtype=wp.vec3), constraintsNumber: wp.array(dtype=int), tetrahedronsA: wp.array(dtype=int), tetrahedronsB: wp.array(dtype=int), tetrahedronsC: wp.array(dtype=int), tetrahedronsD: wp.array(dtype=int), tetrahedronsRestVolumes: wp.array(dtype=float), inverseMasses: wp.array(dtype=float), kS: float): tid = wp.tid() tetrahedronIndexA = tetrahedronsA[tid] tetrahedronIndexB = tetrahedronsB[tid] tetrahedronIndexC = tetrahedronsC[tid] tetrahedronIndexD = tetrahedronsD[tid] tetrahedronPositionA = predictedPositions[tetrahedronIndexA] tetrahedronPositionB = predictedPositions[tetrahedronIndexB] tetrahedronPositionC = predictedPositions[tetrahedronIndexC] tetrahedronPositionD = predictedPositions[tetrahedronIndexD] tetrahedronRestVolume = tetrahedronsRestVolumes[tid] p1 = tetrahedronPositionB - tetrahedronPositionA p2 = tetrahedronPositionC - tetrahedronPositionA p3 = tetrahedronPositionD - tetrahedronPositionA q2 = wp.cross(p3, p1) q1 = wp.cross(p2, p3) q3 = wp.cross(p1, p2) q0 = - q1 - q2 - q3 mA = inverseMasses[tetrahedronIndexA] mB = inverseMasses[tetrahedronIndexB] mC = inverseMasses[tetrahedronIndexC] mD = inverseMasses[tetrahedronIndexD] volume = wp.dot(wp.cross(p1, p2), p3) / 6.0 lambd = mA * wp.dot(q0, q0) + mB * wp.dot(q1, q1) + mC * wp.dot(q2, q2) + mD * wp.dot(q3, q3) lambd = kS * (volume - tetrahedronRestVolume) / lambd wp.atomic_sub(dP, tetrahedronIndexA, q0 * lambd * mA) wp.atomic_sub(dP, tetrahedronIndexB, q1 * lambd * mB) wp.atomic_sub(dP, tetrahedronIndexC, q2 * lambd * mC) wp.atomic_sub(dP, tetrahedronIndexD, q3 * lambd * mD) wp.atomic_add(constraintsNumber, tetrahedronIndexA, 1) wp.atomic_add(constraintsNumber, tetrahedronIndexB, 1) wp.atomic_add(constraintsNumber, tetrahedronIndexC, 1) wp.atomic_add(constraintsNumber, tetrahedronIndexD, 1) @wp.kernel def applyConstraints(predictedPositions: wp.array(dtype=wp.vec3), dP: wp.array(dtype=wp.vec3), constraintsNumber: wp.array(dtype=int)): tid = wp.tid() if(constraintsNumber[tid] > 0): tmpDP = dP[tid] N = float(constraintsNumber[tid]) DP = wp.vec3(tmpDP[0]/N, tmpDP[1]/N, tmpDP[2]/N) predictedPositions[tid] = predictedPositions[tid] + DP dP[tid] = wp.vec3(0.0, 0.0, 0.0) constraintsNumber[tid] = 0 class PBDBasicGravity: @staticmethod def compute(db) -> bool: timeline = omni.timeline.get_timeline_interface() device = "cuda" # # reset on stop # if (timeline.is_stopped()): # context.reset() # initialization if (timeline.is_playing()): with wp.ScopedCudaGuard(): gravity = db.inputs.gravity velocity_dampening = db.inputs.velocity_dampening ground = db.inputs.ground kSDistance = db.inputs.ks_distance kSVolume = db.inputs.ks_volume # convert node inputs to a GPU array positions = wp.array(db.inputs.points, dtype=wp.vec3, device=device) predictedPositions = wp.zeros_like(positions) velocities = wp.array(db.inputs.velocities, dtype=wp.vec3, device=device) inverseMasses = wp.array(db.inputs.inverseMasses, dtype=float, device=device) dP = wp.zeros_like(positions) constraintsNumber = wp.zeros(len(dP), dtype=int, device=device) edgesSplit = np.hsplit(db.inputs.edge, 2) edgesA = wp.array(edgesSplit[0], dtype=int, device=device) edgesB = wp.array(edgesSplit[1], dtype=int, device=device) edgesRestLengths = wp.array(db.inputs.edgesRestLengths, dtype=float, device=device) tetrahedronsSplit = np.hsplit(db.inputs.elem, 4) tetrahedronsA = wp.array(tetrahedronsSplit[0], dtype=int, device=device) tetrahedronsB = wp.array(tetrahedronsSplit[1], dtype=int, device=device) tetrahedronsC = wp.array(tetrahedronsSplit[2], dtype=int, device=device) tetrahedronsD = wp.array(tetrahedronsSplit[3], dtype=int, device=device) tetrahedronsRestVolumes = wp.array(db.inputs.tetrahedronsRestVolumes, dtype=float, device=device) # step simulation with wp.ScopedTimer("Simulate", active=False): # simulate sim_substeps = db.inputs.num_substeps sim_constraints = db.inputs.sim_constraints sim_dt = (1.0/30)/sim_substeps for i in range(sim_substeps): # simulate wp.launch(kernel=gravityKer, dim=len(positions), inputs=[positions, predictedPositions, velocities, gravity, velocity_dampening, sim_dt], device=device) for j in range(sim_constraints): wp.launch( kernel=volumeConstraints, dim=len(tetrahedronsA), inputs=[predictedPositions, dP, constraintsNumber, tetrahedronsA, tetrahedronsB, tetrahedronsC, tetrahedronsD, tetrahedronsRestVolumes, inverseMasses, kSVolume], device=device) wp.launch( kernel=distanceConstraints, dim=len(edgesA), inputs=[predictedPositions, dP, constraintsNumber, edgesA, edgesB, edgesRestLengths, inverseMasses, kSDistance], device=device) wp.launch( kernel=applyConstraints, dim=len(positions), inputs=[predictedPositions, dP, constraintsNumber], device=device) wp.launch(kernel=boundsKer, dim=len(predictedPositions), inputs=[predictedPositions, ground], device=device) wp.launch(kernel=PBDStepKer, dim=len(positions), inputs=[positions, predictedPositions, velocities, sim_dt], device=device) # write node outputs db.outputs.points = positions.numpy() db.outputs.velocities = velocities.numpy() else: with wp.ScopedTimer("Write", active=False): # timeline not playing and sim. not yet initialized, just pass through outputs db.outputs.points = db.inputs.points db.outputs.velocities = db.inputs.velocities

Python