File size: 3,794 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 | // 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/siteAPI.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<MjcPhysicsSiteAPI, TfType::Bases<UsdAPISchemaBase> >();
}
/* virtual */
MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {}
/* static */
MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr &stage,
const SdfPath &path) {
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsSiteAPI();
}
return MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
}
/* virtual */
UsdSchemaKind MjcPhysicsSiteAPI::_GetSchemaKind() const {
return MjcPhysicsSiteAPI::schemaKind;
}
/* static */
bool MjcPhysicsSiteAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot);
}
/* static */
MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim &prim) {
if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) {
return MjcPhysicsSiteAPI(prim);
}
return MjcPhysicsSiteAPI();
}
/* static */
const TfType &MjcPhysicsSiteAPI::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>();
return tfType;
}
/* static */
bool MjcPhysicsSiteAPI::_IsTypedSchema() {
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
return isTyped;
}
/* virtual */
const TfType &MjcPhysicsSiteAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsSiteAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* 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 &MjcPhysicsSiteAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
};
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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