[workspace] Use sdformat 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.

TODO deprecation

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_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

@@ -48,6 +48,7 @@ drake_py_binary(
     name = "vendor_cxx",
     srcs = ["vendor_cxx.py"],
     visibility = [
+        "@sdformat//:__pkg__",
         "@yaml_cpp_internal//:__pkg__",
     ],
     deps = [":module_py"],

tools/workspace/sdformat/package.BUILD.bazel

@@ -16,11 +16,15 @@ 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 AND BSD-3-Clause AND BSL-1.0
 
-package(default_visibility = ["//visibility:public"])
+package(default_visibility = ["//visibility:private"])
 
 # Generates config.h based on the version numbers in CMake code.
 cmake_configure_file(
@@ -55,7 +59,7 @@ generate_file(
 )
 
 # Public headers are indicated in sdformat's `include/sdf/CMakeLists.txt`.
-SDFORMAT_MOST_PUBLIC_HDRS = [
+_MOST_PUBLIC_HDRS = [
     "include/sdf/Actor.hh",
     "include/sdf/AirPressure.hh",
     "include/sdf/Altimeter.hh",
@@ -139,107 +143,119 @@ py_binary(
     srcs_version = "PY3",
 )
 
-SDFORMAT_ALL_PUBLIC_HDRS = SDFORMAT_MOST_PUBLIC_HDRS + [
+_HDRS = _MOST_PUBLIC_HDRS + [
     "include/sdf/config.hh",  # from cmake_configure_file above
     "include/sdf/sdf_config.h",  # alias to config.hh
     "include/sdf/Export.hh",  # from generate_file above
 ]
 
-# Generates the library exported to users. The explicitly listed srcs= matches
-# upstream's explicitly listed sources (sdformat/src/CMakeLists.txt), with two
-# exceptions: ign.hh and ign.cc are not incorporated in this library, but are
-# incorporated into the `ign_sdf_cmdline` library defined below; and the
-# parser_urdf.hh and parser_urdf.cc are excluded because we don't use them.
-cc_library(
+# This list of sources matches upstream's explicitly listed sources
+# (sdformat/src/CMakeLists.txt), with two exceptions: ign.hh and ign.cc are not
+# incorporated in this library, but are incorporated into the `ign_sdf_cmdline`
+# library defined below; and the parser_urdf.hh and parser_urdf.cc are excluded
+# because we don't use them.
+_SRCS = [
+    "src/Actor.cc",
+    "src/AirPressure.cc",
+    "src/Altimeter.cc",
+    "src/Atmosphere.cc",
+    "src/Box.cc",
+    "src/Camera.cc",
+    "src/Capsule.cc",
+    "src/Collision.cc",
+    "src/Console.cc",
+    "src/Converter.cc",
+    "src/Converter.hh",
+    "src/Cylinder.cc",
+    "src/Element.cc",
+    "src/Ellipsoid.cc",
+    "src/EmbeddedSdf.hh",
+    "src/Error.cc",
+    "src/Exception.cc",
+    "src/Filesystem.cc",
+    "src/ForceTorque.cc",
+    "src/Frame.cc",
+    "src/FrameSemantics.cc",
+    "src/FrameSemantics.hh",
+    "src/Geometry.cc",
+    "src/Gui.cc",
+    "src/Heightmap.cc",
+    "src/Imu.cc",
+    "src/InterfaceElements.cc",
+    "src/InterfaceFrame.cc",
+    "src/InterfaceJoint.cc",
+    "src/InterfaceLink.cc",
+    "src/InterfaceModel.cc",
+    "src/InterfaceModelPoseGraph.cc",
+    "src/Joint.cc",
+    "src/JointAxis.cc",
+    "src/Lidar.cc",
+    "src/Light.cc",
+    "src/Link.cc",
+    "src/Magnetometer.cc",
+    "src/Material.cc",
+    "src/Mesh.cc",
+    "src/Model.cc",
+    "src/NavSat.cc",
+    "src/Noise.cc",
+    "src/OutputConfig.cc",
+    "src/Param.cc",
+    "src/ParamPassing.cc",
+    "src/ParamPassing.hh",
+    "src/ParserConfig.cc",
+    "src/ParticleEmitter.cc",
+    "src/Pbr.cc",
+    "src/Physics.cc",
+    "src/Plane.cc",
+    "src/Plugin.cc",
+    "src/Polyline.cc",
+    "src/PrintConfig.cc",
+    "src/Root.cc",
+    "src/SDF.cc",
+    "src/SDFExtension.cc",
+    "src/SDFExtension.hh",
+    "src/SDFImplPrivate.hh",
+    "src/Scene.cc",
+    "src/ScopedGraph.hh",
+    "src/SemanticPose.cc",
+    "src/Sensor.cc",
+    "src/Sky.cc",
+    "src/Sphere.cc",
+    "src/Surface.cc",
+    "src/Types.cc",
+    "src/Utils.cc",
+    "src/Utils.hh",
+    "src/Visual.cc",
+    "src/World.cc",
+    "src/XmlUtils.cc",
+    "src/XmlUtils.hh",
+    "src/parser.cc",
+    "src/parser_private.hh",
+    ":src/EmbeddedSdf.cc",
+]
+
+
+# Generates the library exported to users.
+cc_library_vendored(
     name = "sdformat",
-    srcs = [
-        "src/Actor.cc",
-        "src/AirPressure.cc",
-        "src/Altimeter.cc",
-        "src/Atmosphere.cc",
-        "src/Box.cc",
-        "src/Camera.cc",
-        "src/Capsule.cc",
-        "src/Collision.cc",
-        "src/Console.cc",
-        "src/Converter.cc",
-        "src/Converter.hh",
-        "src/Cylinder.cc",
-        "src/Element.cc",
-        "src/Ellipsoid.cc",
-        "src/EmbeddedSdf.hh",
-        "src/Error.cc",
-        "src/Exception.cc",
-        "src/Filesystem.cc",
-        "src/ForceTorque.cc",
-        "src/Frame.cc",
-        "src/FrameSemantics.cc",
-        "src/FrameSemantics.hh",
-        "src/Geometry.cc",
-        "src/Gui.cc",
-        "src/Heightmap.cc",
-        "src/Imu.cc",
-        "src/InterfaceElements.cc",
-        "src/InterfaceFrame.cc",
-        "src/InterfaceJoint.cc",
-        "src/InterfaceLink.cc",
-        "src/InterfaceModel.cc",
-        "src/InterfaceModelPoseGraph.cc",
-        "src/Joint.cc",
-        "src/JointAxis.cc",
-        "src/Lidar.cc",
-        "src/Light.cc",
-        "src/Link.cc",
-        "src/Magnetometer.cc",
-        "src/Material.cc",
-        "src/Mesh.cc",
-        "src/Model.cc",
-        "src/NavSat.cc",
-        "src/Noise.cc",
-        "src/OutputConfig.cc",
-        "src/Param.cc",
-        "src/ParamPassing.cc",
-        "src/ParamPassing.hh",
-        "src/ParserConfig.cc",
-        "src/ParticleEmitter.cc",
-        "src/Pbr.cc",
-        "src/Physics.cc",
-        "src/Plane.cc",
-        "src/Plugin.cc",
-        "src/Polyline.cc",
-        "src/PrintConfig.cc",
-        "src/Root.cc",
-        "src/SDF.cc",
-        "src/SDFExtension.cc",
-        "src/SDFExtension.hh",
-        "src/SDFImplPrivate.hh",
-        "src/Scene.cc",
-        "src/ScopedGraph.hh",
-        "src/SemanticPose.cc",
-        "src/Sensor.cc",
-        "src/Sky.cc",
-        "src/Sphere.cc",
-        "src/Surface.cc",
-        "src/Types.cc",
-        "src/Utils.cc",
-        "src/Utils.hh",
-        "src/Visual.cc",
-        "src/World.cc",
-        "src/XmlUtils.cc",
-        "src/XmlUtils.hh",
-        "src/parser.cc",
-        "src/parser_private.hh",
-        ":src/EmbeddedSdf.cc",
+    srcs = _SRCS,
+    srcs_vendored = [
+        x.replace("src/", "drake_src/src/")
+        for x in _SRCS
     ],
-    hdrs = SDFORMAT_ALL_PUBLIC_HDRS,
-    # TODO(jamiesnape): Enable visibility after resolving warnings such as
-    # "Direct access in function means the weak symbol cannot be overridden at
-    # runtime. This was likely caused by different translation units being
-    # compiled with different visibility settings."
+    hdrs = _HDRS,
+    hdrs_vendored = [
+        x.replace("include/sdf/", "drake_src/drake_vendor/sdf/")
+        for x in _HDRS
+    ],
+    edit_include = {
+        "sdf/": "drake_vendor/sdf/",
+    },
+    includes = ["drake_src"],
     copts = ["-w"],
     defines = ["SDFORMAT_STATIC_DEFINE", "SDFORMAT_DISABLE_CONSOLE_LOGFILE"],
-    includes = ["include"],
     linkstatic = 1,
+    visibility = ["//visibility:public"],
     deps = [
         "@ignition_math",
         "@ignition_utils",
@@ -251,21 +267,44 @@ cc_library(
     ],
 )
 
+_IGN_SRCS = [
+    "src/ign.cc",
+    "src/ign.hh",
+]
+
+_VENDORED_IGN_SRCS = [
+    x.replace("src/", "drake_src/src/")
+    for x in _IGN_SRCS
+]
+
+genrule(
+    name = "vendoring_ign",
+    srcs = _IGN_SRCS,
+    outs = _VENDORED_IGN_SRCS,
+    cmd = " ".join([
+        "$(execpath @drake//tools/workspace:vendor_cxx)",
+        "--edit-include=sdf/:drake_vendor/sdf/",
+    ] + [
+        "$(execpath {}):$(execpath {})".format(old, new)
+        for old, new in zip(_IGN_SRCS, _VENDORED_IGN_SRCS)
+    ]),
+    tools = ["@drake//tools/workspace:vendor_cxx"],
+)
+
 cc_library(
     name = "ign_sdf_cmdline",
-    srcs = [
-        "src/ign.cc",
-        "src/ign.hh",
-    ],
+    srcs = _VENDORED_IGN_SRCS,
     copts = ["-w"],
     linkstatic = 1,
+    visibility = ["@drake//tools/workspace/sdformat:__pkg__"],
     deps = [
         ":sdformat",
     ],
 )
 
 install(
     name = "install",
+    visibility = ["//visibility:public"],
     docs = [
         "COPYING",
         "LICENSE",