Add support for custom ellipsoids

CHANGES.md

@@ -1,5 +1,10 @@
 # Change Log
 
+### v0.22.0 - 2024-09-03
+
+* Cesium for Omniverse now supports using non-WGS84 ellipsoids.
+  * A `CesiumEllipsoidPrim` should be specified on the `ellipsoidBinding` field of a `CesiumReferencePrim`.
+
 ### v0.21.0 - 2024-06-03
 
 * Added `pointSize` attribute to `CesiumTilesetPrim` for controlling the size of points.

exts/cesium.omniverse/cesium/omniverse/ui/attributes/__init__.py

@@ -1,4 +1,5 @@
 from .data_attributes_widget import CesiumDataSchemaAttributesWidget  # noqa: F401
+from .ellipsoid_attributes_widget import CesiumEllipsoidAttributesWidget  # noqa: F401
 from .georeference_attributes_widget import CesiumGeoreferenceSchemaAttributesWidget  # noqa :F401
 from .tileset_attributes_widget import CesiumTilesetAttributesWidget  # noqa: F401
 from .globe_anchor_attributes_widget import CesiumGlobeAnchorAttributesWidget  # noqa: F401

exts/cesium.omniverse/cesium/omniverse/ui/attributes/ellipsoid_attributes_widget.py

@@ -0,0 +1,22 @@
+import logging
+from omni.kit.property.usd.custom_layout_helper import CustomLayoutFrame, CustomLayoutGroup, CustomLayoutProperty
+from omni.kit.property.usd.usd_property_widget import SchemaPropertiesWidget
+from cesium.usd.plugins.CesiumUsdSchemas import Ellipsoid as CesiumEllipsoid
+
+
+class CesiumEllipsoidAttributesWidget(SchemaPropertiesWidget):
+    def __init__(self):
+        super().__init__("Ellipsoid", CesiumEllipsoid, include_inherited=False)
+
+        self._logger = logging.getLogger(__name__)
+
+    def clean(self):
+        super().clean()
+
+    def _customize_props_layout(self, props):
+        frame = CustomLayoutFrame(hide_extra=True)
+
+        with frame:
+            CustomLayoutProperty("cesium:radii")
+
+        return frame.apply(props)

exts/cesium.omniverse/cesium/omniverse/ui/attributes/georeference_attributes_widget.py

@@ -1,7 +1,10 @@
 import logging
 from omni.kit.property.usd.custom_layout_helper import CustomLayoutFrame, CustomLayoutGroup, CustomLayoutProperty
 from omni.kit.property.usd.usd_property_widget import SchemaPropertiesWidget
-from cesium.usd.plugins.CesiumUsdSchemas import Georeference as CesiumGeoreference
+from cesium.usd.plugins.CesiumUsdSchemas import (
+    Ellipsoid as CesiumEllipsoid,
+    Georeference as CesiumGeoreference,
+)
 
 
 class CesiumGeoreferenceSchemaAttributesWidget(SchemaPropertiesWidget):
@@ -21,5 +24,18 @@ def _customize_props_layout(self, props):
                 CustomLayoutProperty("cesium:georeferenceOrigin:latitude", "Latitude")
                 CustomLayoutProperty("cesium:georeferenceOrigin:longitude", "Longitude")
                 CustomLayoutProperty("cesium:georeferenceOrigin:height", "Height")
+            with CustomLayoutGroup("Ellipsoid"):
+                CustomLayoutProperty("cesium:ellipsoidBinding")
 
         return frame.apply(props)
+
+    def _filter_props_to_build(self, props):
+        filtered_props = super()._filter_props_to_build(props)
+        filtered_props.extend(prop for prop in props if prop.GetName() == "cesium:ellipsoidBinding")
+        return filtered_props
+
+    def get_additional_kwargs(self, ui_attr):
+        if ui_attr.prop_name == "cesium:ellipsoidBinding":
+            return None, {"target_picker_filter_type_list": [CesiumEllipsoid], "targets_limit": 1}
+
+        return None, {"targets_limit": 0}

exts/cesium.omniverse/cesium/omniverse/ui/attributes_widget_controller.py

@@ -2,6 +2,7 @@
 import omni.kit.window.property
 from .attributes import (
     CesiumDataSchemaAttributesWidget,
+    CesiumEllipsoidAttributesWidget,
     CesiumGeoreferenceSchemaAttributesWidget,
     CesiumTilesetAttributesWidget,
     CesiumGlobeAnchorAttributesWidget,
@@ -26,6 +27,7 @@ def __init__(self, _cesium_omniverse_interface: ICesiumOmniverseInterface):
         self._logger = logging.getLogger(__name__)
 
         self._register_data_attributes_widget()
+        self._register_ellipsoid_attributes_widget()
         self._register_georeference_attributes_widget()
         self._register_tileset_attributes_widget()
         self._register_global_anchor_attributes_widget()
@@ -38,6 +40,7 @@ def __init__(self, _cesium_omniverse_interface: ICesiumOmniverseInterface):
 
     def destroy(self):
         self._unregister_data_attributes_widget()
+        self._unregister_ellipsoid_attributes_widget()
         self._unregister_georeference_attributes_widget()
         self._unregister_tileset_attributes_widget()
         self._unregister_global_anchor_attributes_widget()
@@ -60,6 +63,18 @@ def _unregister_data_attributes_widget():
         if window is not None:
             window.unregister_widget("prim", "cesiumData")
 
+    @staticmethod
+    def _register_ellipsoid_attributes_widget():
+        window = omni.kit.window.property.get_window()
+        if window is not None:
+            window.register_widget("prim", "cesiumEllipsoid", CesiumEllipsoidAttributesWidget())
+
+    @staticmethod
+    def _unregister_ellipsoid_attributes_widget():
+        window = omni.kit.window.property.get_window()
+        if window is not None:
+            window.unregister_widget("prim", "cesiumEllipsoid")
+
     @staticmethod
     def _register_georeference_attributes_widget():
         window = omni.kit.window.property.get_window()

exts/cesium.usd.plugins/cesium/usd/plugins/CesiumUsdSchemas/__init__.pyi

@@ -67,13 +67,36 @@ class Data(pxr.Usd.Typed):
     @classmethod
     def __reduce__(cls) -> Any: ...
 
+class Ellipsoid(pxr.Usd.Typed):
+    __instance_size__: ClassVar[int] = ...
+    @classmethod
+    def __init__(cls, *args, **kwargs) -> None: ...
+    @classmethod
+    def CreateRadiiAttr(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def Define(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def Get(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def GetRadiiAttr(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def GetSchemaAttributeNames(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def _GetStaticTfType(cls, *args, **kwargs) -> Any: ...
+    @classmethod
+    def __bool__(cls) -> bool: ...
+    @classmethod
+    def __reduce__(cls) -> Any: ...
+
 class Georeference(pxr.Usd.Typed):
     __instance_size__: ClassVar[int] = ...
     @classmethod
     def __init__(cls, *args, **kwargs) -> None: ...
     @classmethod
     def CreateEcefToUsdTransformAttr(cls, *args, **kwargs) -> Any: ...
     @classmethod
+    def CreateEllipsoidBindingRel(cls, *args, **kwargs) -> Any: ...
+    @classmethod
     def CreateGeoreferenceOriginHeightAttr(cls, *args, **kwargs) -> Any: ...
     @classmethod
     def CreateGeoreferenceOriginLatitudeAttr(cls, *args, **kwargs) -> Any: ...
@@ -86,6 +109,8 @@ class Georeference(pxr.Usd.Typed):
     @classmethod
     def GetEcefToUsdTransformAttr(cls, *args, **kwargs) -> Any: ...
     @classmethod
+    def GetEllipsoidBindingRel(cls, *args, **kwargs) -> Any: ...
+    @classmethod
     def GetGeoreferenceOriginHeightAttr(cls, *args, **kwargs) -> Any: ...
     @classmethod
     def GetGeoreferenceOriginLatitudeAttr(cls, *args, **kwargs) -> Any: ...
@@ -489,6 +514,8 @@ class Tokens(Boost.Python.instance):
     @property
     def cesiumEcefToUsdTransform(self) -> Any: ...
     @property
+    def cesiumEllipsoidBinding(self) -> Any: ...
+    @property
     def cesiumEnableFogCulling(self) -> Any: ...
     @property
     def cesiumEnableFrustumCulling(self) -> Any: ...
@@ -561,6 +588,8 @@ class Tokens(Boost.Python.instance):
     @property
     def cesiumProjectDefaultIonAccessTokenId(self) -> Any: ...
     @property
+    def cesiumRadii(self) -> Any: ...
+    @property
     def cesiumRasterOverlayBinding(self) -> Any: ...
     @property
     def cesiumRootTilesX(self) -> Any: ...

exts/cesium.usd.plugins/schemas/cesium_schemas.usda

@@ -199,7 +199,7 @@ class CesiumGeoreferencePrim "CesiumGeoreferencePrim" (
             string apiName = "georeferenceOriginHeight"
         }
         displayName = "Georeference Origin Height"
-        doc = "The height of the origin in meters above the WGS84 ellipsoid. Do not confuse this with a geoid height or height above mean sea level, which can be tens of meters higher or lower depending on where in the world the origin is located."
+        doc = "The height of the origin in meters above the ellipsoid. Do not confuse this with a geoid height or height above mean sea level, which can be tens of meters higher or lower depending on where in the world the origin is located."
     )
 
     matrix4d cesium:ecefToUsdTransform (
@@ -209,6 +209,14 @@ class CesiumGeoreferencePrim "CesiumGeoreferencePrim" (
         displayName = "ECEF to USD Transform (read only)"
         doc = "The 4x4 transformation matrix (row major) from global ECEF coordinates to USD stage coordinates based on the georeference origin (read only)."
     )
+
+    rel cesium:ellipsoidBinding (
+        customData = {
+            string apiName = "ellipsoidBinding"
+        }
+        displayName = "Ellipsoid Binding"
+        doc = "The ellipsoid."
+    )
 }
 
 class CesiumTilesetPrim "CesiumTilesetPrim" (
@@ -857,3 +865,19 @@ class "CesiumGlobeAnchorSchemaAPI" (
         doc = "The Georeference Origin prim used for the globe anchor calculations."
     )
 }
+
+class CesiumEllipsoidPrim "CesiumEllipsoidPrim" (
+    doc = """An ellipsoid."""
+    inherits = </Typed>
+    customData = {
+        string className = "Ellipsoid"
+    }
+) {
+    double3 cesium:radii = (0.0, 0.0, 0.0) (
+        customData = {
+            string apiName = "radii"
+        }
+        displayName = "Radii"
+        doc = "The radii of this ellipsoid. The X coordinate should be the radius of the largest axis and the Z coordinate should be the radius of the smallest axis."
+    )
+}

src/core/include/cesium/omniverse/AssetRegistry.h

@@ -11,6 +11,7 @@ namespace cesium::omniverse {
 class Context;
 class OmniCartographicPolygon;
 class OmniData;
+class OmniEllipsoid;
 class OmniGeoreference;
 class OmniGlobeAnchor;
 class OmniRasterOverlay;
@@ -25,6 +26,7 @@ struct Viewport;
 
 enum AssetType {
     DATA,
+    ELLIPSOID,
     TILESET,
     ION_RASTER_OVERLAY,
     POLYGON_RASTER_OVERLAY,
@@ -54,6 +56,11 @@ class AssetRegistry {
     [[nodiscard]] OmniData* getData(const pxr::SdfPath& path) const;
     [[nodiscard]] OmniData* getFirstData() const;
 
+    OmniEllipsoid& addEllipsoid(const pxr::SdfPath& path);
+    void removeEllipsoid(const pxr::SdfPath& path);
+    [[nodiscard]] OmniEllipsoid* getEllipsoid(const pxr::SdfPath& path) const;
+    [[nodiscard]] const std::vector<std::unique_ptr<OmniEllipsoid>>& getEllipsoids() const;
+
     OmniTileset& addTileset(const pxr::SdfPath& path);
     void removeTileset(const pxr::SdfPath& path);
     [[nodiscard]] OmniTileset* getTileset(const pxr::SdfPath& path) const;
@@ -114,6 +121,7 @@ class AssetRegistry {
   private:
     Context* _pContext;
     std::vector<std::unique_ptr<OmniData>> _datas;
+    std::vector<std::unique_ptr<OmniEllipsoid>> _ellipsoids;
     std::vector<std::unique_ptr<OmniTileset>> _tilesets;
     std::vector<std::unique_ptr<OmniIonRasterOverlay>> _ionRasterOverlays;
     std::vector<std::unique_ptr<OmniPolygonRasterOverlay>> _polygonRasterOverlays;

src/core/include/cesium/omniverse/OmniEllipsoid.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <glm/glm.hpp>
+#include <pxr/usd/sdf/path.h>
+
+namespace CesiumGeospatial {
+class Ellipsoid;
+}
+
+namespace cesium::omniverse {
+
+class Context;
+
+class OmniEllipsoid {
+  public:
+    OmniEllipsoid(Context* pContext, const pxr::SdfPath& path);
+    ~OmniEllipsoid() = default;
+    OmniEllipsoid(const OmniEllipsoid&) = delete;
+    OmniEllipsoid& operator=(const OmniEllipsoid&) = delete;
+    OmniEllipsoid(OmniEllipsoid&&) noexcept = default;
+    OmniEllipsoid& operator=(OmniEllipsoid&&) noexcept = default;
+
+    [[nodiscard]] const pxr::SdfPath& getPath() const;
+    [[nodiscard]] CesiumGeospatial::Ellipsoid getEllipsoid() const;
+
+  private:
+    Context* _pContext;
+    pxr::SdfPath _path;
+};
+} // namespace cesium::omniverse

src/core/include/cesium/omniverse/OmniGeoreference.h

@@ -24,6 +24,7 @@ class OmniGeoreference {
 
     [[nodiscard]] const pxr::SdfPath& getPath() const;
     [[nodiscard]] CesiumGeospatial::Cartographic getOrigin() const;
+    [[nodiscard]] pxr::SdfPath getEllipsoidPath() const;
     [[nodiscard]] const CesiumGeospatial::Ellipsoid& getEllipsoid() const;
     [[nodiscard]] CesiumGeospatial::LocalHorizontalCoordinateSystem getLocalCoordinateSystem() const;
     void update();

src/core/include/cesium/omniverse/UsdNotificationHandler.h

@@ -22,6 +22,7 @@ class UsdNotificationHandler final : public pxr::TfWeakBase {
   private:
     enum class ChangedPrimType {
         CESIUM_DATA,
+        CESIUM_ELLIPSOID,
         CESIUM_TILESET,
         CESIUM_ION_RASTER_OVERLAY,
         CESIUM_POLYGON_RASTER_OVERLAY,

src/core/include/cesium/omniverse/UsdUtil.h

@@ -10,6 +10,7 @@
 
 PXR_NAMESPACE_OPEN_SCOPE
 class CesiumData;
+class CesiumEllipsoid;
 class CesiumGeoreference;
 class CesiumGlobeAnchorAPI;
 class CesiumRasterOverlay;
@@ -108,6 +109,7 @@ std::string getSafeName(const std::string& name);
 pxr::TfToken getDynamicTextureProviderAssetPathToken(const std::string_view& name);
 
 pxr::CesiumData defineCesiumData(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
+pxr::CesiumEllipsoid defineCesiumEllipsoid(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumTileset defineCesiumTileset(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumIonRasterOverlay defineCesiumIonRasterOverlay(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumPolygonRasterOverlay
@@ -117,6 +119,7 @@ pxr::CesiumIonServer defineCesiumIonServer(const pxr::UsdStageWeakPtr& pStage, c
 pxr::CesiumGlobeAnchorAPI applyCesiumGlobeAnchor(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 
 pxr::CesiumData getCesiumData(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
+pxr::CesiumEllipsoid getCesiumEllipsoid(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumTileset getCesiumTileset(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumRasterOverlay getCesiumRasterOverlay(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 pxr::CesiumIonRasterOverlay getCesiumIonRasterOverlay(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
@@ -136,6 +139,7 @@ pxr::UsdShadeShader getUsdShader(const pxr::UsdStageWeakPtr& pStage, const pxr::
 pxr::UsdGeomBasisCurves getUsdBasisCurves(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 
 bool isCesiumData(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
+bool isCesiumEllipsoid(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 bool isCesiumTileset(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 bool isCesiumRasterOverlay(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);
 bool isCesiumIonRasterOverlay(const pxr::UsdStageWeakPtr& pStage, const pxr::SdfPath& path);

src/core/src/AssetRegistry.cpp

@@ -4,6 +4,7 @@
 #include "cesium/omniverse/CppUtil.h"
 #include "cesium/omniverse/OmniCartographicPolygon.h"
 #include "cesium/omniverse/OmniData.h"
+#include "cesium/omniverse/OmniEllipsoid.h"
 #include "cesium/omniverse/OmniGeoreference.h"
 #include "cesium/omniverse/OmniGlobeAnchor.h"
 #include "cesium/omniverse/OmniIonRasterOverlay.h"
@@ -55,6 +56,28 @@ OmniData* AssetRegistry::getFirstData() const {
     return _datas.front().get();
 }
 
+OmniEllipsoid& AssetRegistry::addEllipsoid(const pxr::SdfPath& path) {
+    return *_ellipsoids.insert(_ellipsoids.end(), std::make_unique<OmniEllipsoid>(_pContext, path))->get();
+}
+
+void AssetRegistry::removeEllipsoid(const pxr::SdfPath& path) {
+    CppUtil::eraseIf(_ellipsoids, [&path](const auto& pEllipsoid) { return pEllipsoid->getPath() == path; });
+}
+
+OmniEllipsoid* AssetRegistry::getEllipsoid(const pxr::SdfPath& path) const {
+    for (const auto& pEllipsoid : _ellipsoids) {
+        if (pEllipsoid->getPath() == path) {
+            return pEllipsoid.get();
+        }
+    }
+
+    return nullptr;
+}
+
+const std::vector<std::unique_ptr<OmniEllipsoid>>& AssetRegistry::getEllipsoids() const {
+    return _ellipsoids;
+}
+
 OmniTileset& AssetRegistry::addTileset(const pxr::SdfPath& path) {
     return *_tilesets.insert(_tilesets.end(), std::make_unique<OmniTileset>(_pContext, path, _tilesetId++))->get();
 }
@@ -349,6 +372,8 @@ const std::vector<std::unique_ptr<OmniCartographicPolygon>>& AssetRegistry::getC
 AssetType AssetRegistry::getAssetType(const pxr::SdfPath& path) const {
     if (getData(path)) {
         return AssetType::DATA;
+    } else if (getEllipsoid(path)) {
+        return AssetType::ELLIPSOID;
     } else if (getTileset(path)) {
         return AssetType::TILESET;
     } else if (getIonRasterOverlay(path)) {
@@ -375,6 +400,7 @@ bool AssetRegistry::hasAsset(const pxr::SdfPath& path) const {
 
 void AssetRegistry::clear() {
     _datas.clear();
+    _ellipsoids.clear();
     _tilesets.clear();
     _ionRasterOverlays.clear();
     _polygonRasterOverlays.clear();