[workspace] Use sdformat and ignition hidden visibility

When building C++ code, we should not use -fvisibility=hidden because
it infects all #included code, even the standard library. Instead, we
should wrap the third-party C++ code in a inline hidden namespace.
That way, only the third-party code itself is hidden.

multibody/parsing/detail_common.h

@@ -6,7 +6,7 @@
 #include <string>
 #include <variant>
 
-#include <sdf/Element.hh>
+#include <drake_vendor/sdf/Element.hh>
 #include <tinyxml2.h>
 
 #include "drake/common/diagnostic_policy.h"

multibody/parsing/detail_ignition.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <ignition/math/Pose3.hh>
+#include <drake_vendor/ignition/math/Pose3.hh>
 
 #include "drake/common/eigen_types.h"
 #include "drake/math/rigid_transform.h"

multibody/parsing/detail_sdf_diagnostic.h

@@ -3,7 +3,7 @@
 #include <set>
 #include <string>
 
-#include <sdf/Element.hh>
+#include <drake_vendor/sdf/Element.hh>
 
 #include "drake/common/diagnostic_policy.h"
 

multibody/parsing/detail_sdf_geometry.cc

@@ -7,13 +7,13 @@
 #include <string>
 #include <utility>
 
-#include <sdf/Box.hh>
-#include <sdf/Capsule.hh>
-#include <sdf/Cylinder.hh>
-#include <sdf/Element.hh>
-#include <sdf/Ellipsoid.hh>
-#include <sdf/Plane.hh>
-#include <sdf/Sphere.hh>
+#include <drake_vendor/sdf/Box.hh>
+#include <drake_vendor/sdf/Capsule.hh>
+#include <drake_vendor/sdf/Cylinder.hh>
+#include <drake_vendor/sdf/Element.hh>
+#include <drake_vendor/sdf/Ellipsoid.hh>
+#include <drake_vendor/sdf/Plane.hh>
+#include <drake_vendor/sdf/Sphere.hh>
 
 #include "drake/geometry/geometry_instance.h"
 #include "drake/geometry/proximity_properties.h"

multibody/parsing/detail_sdf_geometry.h

@@ -3,9 +3,9 @@
 #include <memory>
 #include <string>
 
-#include <sdf/Collision.hh>
-#include <sdf/Geometry.hh>
-#include <sdf/Visual.hh>
+#include <drake_vendor/sdf/Collision.hh>
+#include <drake_vendor/sdf/Geometry.hh>
+#include <drake_vendor/sdf/Visual.hh>
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/geometry/geometry_instance.h"

multibody/parsing/detail_sdf_parser.cc

@@ -10,15 +10,15 @@
 #include <variant>
 #include <vector>
 
-#include <sdf/Error.hh>
-#include <sdf/Frame.hh>
-#include <sdf/Joint.hh>
-#include <sdf/JointAxis.hh>
-#include <sdf/Link.hh>
-#include <sdf/Model.hh>
-#include <sdf/ParserConfig.hh>
-#include <sdf/Root.hh>
-#include <sdf/World.hh>
+#include <drake_vendor/sdf/Error.hh>
+#include <drake_vendor/sdf/Frame.hh>
+#include <drake_vendor/sdf/Joint.hh>
+#include <drake_vendor/sdf/JointAxis.hh>
+#include <drake_vendor/sdf/Link.hh>
+#include <drake_vendor/sdf/Model.hh>
+#include <drake_vendor/sdf/ParserConfig.hh>
+#include <drake_vendor/sdf/Root.hh>
+#include <drake_vendor/sdf/World.hh>
 
 #include "drake/geometry/geometry_instance.h"
 #include "drake/math/rigid_transform.h"

multibody/parsing/test/detail_sdf_geometry_test.cc

@@ -7,10 +7,10 @@
 #include <vector>
 
 #include "fmt/ostream.h"
+#include <drake_vendor/sdf/Root.hh>
+#include <drake_vendor/sdf/parser.hh>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <sdf/Root.hh>
-#include <sdf/parser.hh>
 
 #include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"

multibody/parsing/test/detail_sdf_parser_test.cc

@@ -5,9 +5,9 @@
 #include <sstream>
 #include <stdexcept>
 
+#include <drake_vendor/sdf/parser.hh>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <sdf/parser.hh>
 
 #include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"

tools/workspace/BUILD.bazel

@@ -49,7 +49,10 @@ drake_py_binary(
     srcs = ["vendor_cxx.py"],
     visibility = [
         # These should all be of the form "@foo_internal//:__pkg__".
+        "@gz_math_internal//:__pkg__",
+        "@gz_utils_internal//:__pkg__",
         "@qhull_internal//:__pkg__",
+        "@sdformat_internal//:__pkg__",
         "@yaml_cpp_internal//:__pkg__",
     ],
     deps = [":module_py"],

tools/workspace/gz_math_internal/package.BUILD.bazel

@@ -12,14 +12,14 @@ load(
     "@drake//tools/workspace:check_lists_consistency.bzl",
     "check_lists_consistency",
 )
-load(
-    "@drake//third_party:com_github_bazelbuild_rules_cc/whole_archive.bzl",
-    "cc_whole_archive_library",
-)
 load(
     "@drake//tools/install:install.bzl",
     "install",
 )
+load(
+    "@drake//tools/workspace:vendor_cxx.bzl",
+    "cc_library_vendored",
+)
 load("@drake//tools/workspace:generate_file.bzl", "generate_file")
 
 licenses(["notice"])  # Apache-2.0
@@ -31,12 +31,6 @@ config_setting(
     values = {"cpu": "k8"},
 )
 
-PROJECT_MAJOR = 6
-
-PROJECT_MINOR = 10
-
-PROJECT_PATCH = 0
-
 # Generates config.hh based on the version numbers in CMake code.
 cmake_configure_file(
     name = "config",
@@ -45,11 +39,11 @@ cmake_configure_file(
     cmakelists = ["CMakeLists.txt"],
     defines = [
         "IGN_DESIGNATION=math",
-        "PROJECT_VERSION_MAJOR=%d" % (PROJECT_MAJOR),
-        "PROJECT_VERSION_MINOR=%d" % (PROJECT_MINOR),
-        "PROJECT_VERSION_PATCH=%d" % (PROJECT_PATCH),
-        "PROJECT_VERSION=%d.%d" % (PROJECT_MAJOR, PROJECT_MINOR),
-        "PROJECT_VERSION_FULL=%d.%d.%d" % (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH),  # noqa
+        "PROJECT_VERSION_MAJOR=0",
+        "PROJECT_VERSION_MINOR=%0",
+        "PROJECT_VERSION_PATCH=0",
+        "PROJECT_VERSION=0.0",
+        "PROJECT_VERSION_FULL=0.0.0",
         "PROJECT_NAME_NO_VERSION=ignition-math",
     ],
 )
@@ -59,12 +53,12 @@ generate_file(
     content = """
 #pragma once
 // Simplified version of visibility and deprecation macros.
-#define IGNITION_MATH_VISIBLE __attribute__ ((visibility("default")))
+#define IGNITION_MATH_VISIBLE
 #define IGN_DEPRECATED(version) __attribute__ ((__deprecated__))
     """,
 )
 
-public_headers_no_gen = [
+_MOST_HDRS = [
     "include/ignition/math/Angle.hh",
     "include/ignition/math/AxisAlignedBox.hh",
     "include/ignition/math/Box.hh",
@@ -135,63 +129,75 @@ private_headers = [
 # public headers in the library.  The first line is
 # '#include <ignition/math/config.hh>' followed by one line like
 # '#include <ignition/math/Angle.hh>' for each non-generated header.
+# TODO(jwnimmer-tri) The "include all headers" header file is fine for
+# prototyping but has no business being used for production code. Burn
+# this with fire once we fix sdformat to stop using it.
 drake_generate_include_header(
     name = "mathhh_genrule",
     out = "include/ignition/math.hh",
-    hdrs = public_headers_no_gen + [
+    hdrs = _MOST_HDRS + [
         "include/ignition/math/config.hh",
         "include/ignition/math/Export.hh",
     ],
 )
 
 check_lists_consistency(
-    files = private_headers + public_headers_no_gen,
+    files = private_headers + _MOST_HDRS,
     glob_include = ["include/**/*.hh"],
 )
 
-public_headers = public_headers_no_gen + [
+_HDRS = _MOST_HDRS + [
     "include/ignition/math/config.hh",
     "include/ignition/math/Export.hh",
     "include/ignition/math.hh",
 ]
 
-# Generates the library.  The explicitly listed srcs= matches upstream's
-# explicitly listed sources plus private headers.  The explicitly listed
-# hdrs= matches upstream's public headers.
-cc_library(
+# The explicitly listed srcs= matches upstream's explicitly listed sources plus
+# private headers.
+_SRCS = [
+    "src/Angle.cc",
+    "src/AxisAlignedBox.cc",
+    "src/Color.cc",
+    "src/DiffDriveOdometry.cc",
+    "src/Frustum.cc",
+    "src/GaussMarkovProcess.cc",
+    "src/Helpers.cc",
+    "src/Kmeans.cc",
+    "src/Material.cc",
+    "src/PID.cc",
+    "src/Rand.cc",
+    "src/RollingMean.cc",
+    "src/RotationSpline.cc",
+    "src/RotationSplinePrivate.cc",
+    "src/SemanticVersion.cc",
+    "src/SignalStats.cc",
+    "src/SpeedLimiter.cc",
+    "src/SphericalCoordinates.cc",
+    "src/Spline.cc",
+    "src/SplinePrivate.cc",
+    "src/Stopwatch.cc",
+    "src/Temperature.cc",
+    "src/Vector3Stats.cc",
+] + private_headers
+
+cc_library_vendored(
     name = "gz_math",
-    srcs = [
-        "src/Angle.cc",
-        "src/AxisAlignedBox.cc",
-        "src/Color.cc",
-        "src/DiffDriveOdometry.cc",
-        "src/Frustum.cc",
-        "src/GaussMarkovProcess.cc",
-        "src/Helpers.cc",
-        "src/Kmeans.cc",
-        "src/Material.cc",
-        "src/PID.cc",
-        "src/Rand.cc",
-        "src/RollingMean.cc",
-        "src/RotationSpline.cc",
-        "src/RotationSplinePrivate.cc",
-        "src/SemanticVersion.cc",
-        "src/SignalStats.cc",
-        "src/SpeedLimiter.cc",
-        "src/SphericalCoordinates.cc",
-        "src/Spline.cc",
-        "src/SplinePrivate.cc",
-        "src/Stopwatch.cc",
-        "src/Temperature.cc",
-        "src/Vector3Stats.cc",
-    ] + private_headers + public_headers,
-    copts = [
-        # TODO(jwnimmer-tri) Ideally, we should use hidden visibility for the
-        # private builds of our dependencies.
-        "-w",
+    srcs = _SRCS,
+    srcs_vendored = [
+        x.replace("src/", "drake_src/src/")
+        for x in _SRCS
+    ],
+    hdrs = _HDRS,
+    hdrs_vendored = [
+        x.replace("include/ignition/", "drake_src/drake_vendor/ignition/")
+        for x in _HDRS
     ],
+    edit_include = {
+        "ignition/": "drake_vendor/ignition/",
+    },
+    copts = ["-w"],
     linkstatic = True,
-    includes = ["include"],
+    includes = ["drake_src"],
     visibility = ["//visibility:public"],
 )
 

tools/workspace/gz_math_internal/repository.bzl

@@ -5,8 +5,6 @@ load("//tools/workspace:github.bzl", "github_archive")
 def gz_math_internal_repository(
         name,
         mirrors = None):
-    # When updating this commit, also remember to adjust the PROJECT_*
-    # constants in ./package.BUILD.bazel to match the new version number.
     github_archive(
         name = name,
         repository = "gazebosim/gz-math",