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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 | // 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/utils.h>
#include <mujoco/mujoco.h>
#include <pxr/usd/sdf/path.h>
namespace mujoco {
namespace usd {
constexpr const char* kUsdPrimPathKey = "usd_primpath";
void SetUsdPrimPathUserValue(mjsElement* element,
const pxr::SdfPath& prim_path) {
// The value is a pointer to a newly allocated SdfPath, which will be deleted
// when the mjsElement is deleted.
const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
mjs_setUserValueWithCleanup(
element, kUsdPrimPathKey, usd_primpath,
[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
}
pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
if (user_data) {
return *static_cast<const pxr::SdfPath*>(user_data);
}
return pxr::SdfPath();
}
} // namespace usd
} // namespace mujoco
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