File size: 4,407 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 | // Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/types.h>
#include <pxr/usd/usd/schemaRegistry.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
// Register the schema with the TfType system.
TF_REGISTRY_FUNCTION(TfType) {
TfType::Define<MjcPhysicsCollisionAPI, TfType::Bases<UsdAPISchemaBase> >();
}
/* virtual */
MjcPhysicsCollisionAPI::~MjcPhysicsCollisionAPI() {}
/* static */
MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Get(const UsdStagePtr &stage,
const SdfPath &path) {
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsCollisionAPI();
}
return MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
}
/* virtual */
UsdSchemaKind MjcPhysicsCollisionAPI::_GetSchemaKind() const {
return MjcPhysicsCollisionAPI::schemaKind;
}
/* static */
bool MjcPhysicsCollisionAPI::CanApply(const UsdPrim &prim,
std::string *whyNot) {
return prim.CanApplyAPI<MjcPhysicsCollisionAPI>(whyNot);
}
/* static */
MjcPhysicsCollisionAPI MjcPhysicsCollisionAPI::Apply(const UsdPrim &prim) {
if (prim.ApplyAPI<MjcPhysicsCollisionAPI>()) {
return MjcPhysicsCollisionAPI(prim);
}
return MjcPhysicsCollisionAPI();
}
/* static */
const TfType &MjcPhysicsCollisionAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsCollisionAPI>();
return tfType;
}
/* static */
bool MjcPhysicsCollisionAPI::_IsTypedSchema() {
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
return isTyped;
}
/* virtual */
const TfType &MjcPhysicsCollisionAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsCollisionAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcShellinertia);
}
UsdAttribute MjcPhysicsCollisionAPI::CreateShellInertiaAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcShellinertia, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
namespace {
static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) {
TfTokenVector result;
result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end());
result.insert(result.end(), right.begin(), right.end());
return result;
}
} // namespace
/*static*/
const TfTokenVector &MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
MjcPhysicsTokens->mjcShellinertia,
};
static TfTokenVector allNames = _ConcatenateAttributeNames(
UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
if (includeInherited)
return allNames;
else
return localNames;
}
PXR_NAMESPACE_CLOSE_SCOPE
// ===================================================================== //
// Feel free to add custom code below this line. It will be preserved by
// the code generator.
//
// Just remember to wrap code in the appropriate delimiters:
// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
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