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Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly

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Also remove duplicate line with no effect

PiperOrigin-RevId: 781540954
Change-Id: I1e161c2ed0b6e3209697c9551ad30e3371e44865
This commit is contained in:
Robin Alazard
2025-07-10 08:13:24 -07:00
committed by Copybara-Service
parent d81ab17bf5
commit 1bb6391d9c
1 changed files with 2 additions and 6 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+2 -6
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@@ -1733,11 +1733,8 @@ class ModelWriter {
// Local joint frame for body1 // Local joint frame for body1
pxr::GfVec3f local_pos1(mj_jnt_pos); pxr::GfVec3f local_pos1(mj_jnt_pos);
pxr::GfRotation().SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis);
pxr::GfQuatf local_rot1( pxr::GfQuatf local_rot1(
pxr::GfRotation() pxr::GfRotation(pxr::GfVec3f::ZAxis(), mj_jnt_axis).GetQuat());
.SetRotateInto(pxr::GfVec3f::ZAxis(), mj_jnt_axis)
.GetQuat());
SetAttributeDefault( SetAttributeDefault(
data_, data_,
@@ -1783,8 +1780,7 @@ class ModelWriter {
if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint || if (joint_prim_type == pxr::UsdPhysicsTokens->PhysicsRevoluteJoint ||
joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) { joint_prim_type == pxr::UsdPhysicsTokens->PhysicsPrismaticJoint) {
pxr::GfQuatf other_rot0( pxr::GfQuatf other_rot0(
pxr::GfRotation() pxr::GfRotation(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local)
.SetRotateInto(pxr::GfVec3f::ZAxis(), jnt_axis_parent_local)
.GetQuat()); .GetQuat());
SetAttributeDefault( SetAttributeDefault(