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Add support for mjcPhysics keyframes to USD interop.

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PiperOrigin-RevId: 778552679
Change-Id: I04026599f7a2836e3fe1cf0d553bcc86a5795f98
This commit is contained in:
Sam Haves
2025-07-02 10:16:42 -07:00
committed by Copybara-Service
parent 072b327430
commit 1d613b9b9a
7 changed files with 236 additions and 10 deletions
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src/experimental/usd/plugins/mjcf/utils.h
+24
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@@ -85,6 +85,21 @@ void SetField(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& field_path,
data->Set(field_path, key, untyped_val);
}
// Set the value specified by key on any field at field_path.
template <typename T>
void SetFieldTimeSample(pxr::SdfAbstractDataRefPtr& data,
const pxr::SdfPath& field_path, double time,
T&& value) {
using Deduced = typename std::remove_reference_t<T>;
const auto typed_val = pxr::SdfAbstractDataConstTypedValue<Deduced>(&value);
const pxr::SdfAbstractDataConstValue& untyped_val = typed_val;
pxr::VtValue vt_value;
untyped_val.GetValue(&vt_value);
// NOTE: SetTimeSample doesn't accept an SdfAbstractDataConstValue yet.
data->SetTimeSample(field_path, time, vt_value);
}
// Set the value specified by key on an attribute spec at attribute_path.
template <typename T>
void SetAttribute(pxr::SdfAbstractDataRefPtr& data,
@@ -117,6 +132,15 @@ void SetAttributeDefault(pxr::SdfAbstractDataRefPtr& data,
SetAttribute(data, attribute_path, pxr::SdfFieldKeys->Default, default_value);
}
// Set the default value on an attribute spec at attribute_path.
template <typename T>
void SetAttributeTimeSample(pxr::SdfAbstractDataRefPtr& data,
const pxr::SdfPath& attribute_path,
double time,
T&& default_value) {
SetFieldTimeSample(data, attribute_path, time, default_value);
}
// Set the value specified by key on the root layer.
template <typename T>
void SetLayerMetadata(pxr::SdfAbstractDataRefPtr& data, const pxr::TfToken& key,