From 1bb6391d9caf341bb6deb6698145fb3d8cb561e1 Mon Sep 17 00:00:00 2001 From: Robin Alazard Date: Thu, 10 Jul 2025 08:13:24 -0700 Subject: [PATCH] Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly Also remove duplicate line with no effect PiperOrigin-RevId: 781540954 Change-Id: I1e161c2ed0b6e3209697c9551ad30e3371e44865 --- src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc index d4539c93..1b71d00f 100644 --- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc +++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc @@ -1733,11 +1733,8 @@ class ModelWriter { // Local joint frame for body1 pxr::GfVec3f local_pos1(mj_jnt_pos); - pxr::GfRotation().SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis); pxr::GfQuatf local_rot1( - pxr::GfRotation() - .SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis) - .GetQuat()); + pxr::GfRotation(pxr::GfVec3f::ZAxis(), mj_jnt_axis).GetQuat()); SetAttributeDefault( data_, @@ -1783,8 +1780,7 @@ class ModelWriter { if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint || joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) { pxr::GfQuatf other_rot0( - pxr::GfRotation() - .SetRotateInto(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local) + pxr::GfRotation(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local) .GetQuat()); SetAttributeDefault(