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Fix the parsing of USD scenes that use ResetXformStack

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Also add a new test for it

PiperOrigin-RevId: 778114814
Change-Id: Ib019768ac45ecf7ec6d437199a3d1427557b2f06
This commit is contained in:
Robin Alazard
2025-07-01 11:06:13 -07:00
committed by Copybara-Service
parent 50de1b3c2c
commit 072b327430
1 changed files with 7 additions and 5 deletions
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src/experimental/usd/usd_to_mjspec.cc
+7 -5
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@@ -63,7 +63,6 @@
#include <pxr/usd/usdPhysics/revoluteJoint.h> #include <pxr/usd/usdPhysics/revoluteJoint.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h> #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#include <pxr/usd/usdPhysics/scene.h> #include <pxr/usd/usdPhysics/scene.h>
#include <pxr/usd/usdPhysics/sphericalJoint.h>
namespace { namespace {
using pxr::MjcPhysicsTokens; using pxr::MjcPhysicsTokens;
@@ -1350,7 +1349,7 @@ void ParseCurrentAndDescendants(mjSpec* spec, const pxr::UsdPrim& prim,
if (child.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) { if (child.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
continue; continue;
} }
if (xform_cache.GetResetXformStack(prim)) { if (xform_cache.GetResetXformStack(child)) {
continue; continue;
} }
ParseCurrentAndDescendants(spec, child, prim, body, xform_cache); ParseCurrentAndDescendants(spec, child, prim, body, xform_cache);
@@ -1458,12 +1457,15 @@ pxr::UsdPrim GetNestingBodyPrim(const pxr::UsdPrim& prim,
} }
pxr::UsdPrim previous_prim = prim.GetParent(); pxr::UsdPrim previous_prim = prim.GetParent();
while (previous_prim.IsValid()) { while (previous_prim.IsValid()) {
if (xform_cache.GetResetXformStack(previous_prim)) { // If we find a rigid body, this is our answer. The prim is nested.
return pxr::UsdPrim();
}
if (previous_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) { if (previous_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
return previous_prim; return previous_prim;
} }
// If we encounter a prim that resets the transform stack *before* finding
// a rigid body, the chain is broken. The prim is not nested.
if (xform_cache.GetResetXformStack(previous_prim)) {
return pxr::UsdPrim();
}
previous_prim = previous_prim.GetParent(); previous_prim = previous_prim.GetParent();
} }
return pxr::UsdPrim(); return pxr::UsdPrim();