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Removing redundant range calculations

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This commit is contained in:
Abhishek Joshi
2023-09-21 16:20:08 -05:00
parent deb8a8e2e2
commit 1e06a554e5
3 changed files with 39 additions and 24 deletions
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python/mujoco/usd_component.py
+24 -10
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@@ -2,6 +2,7 @@ import os
from enum import Enum
import mujoco
from mujoco.usd_utilities import *
from pxr import Usd, UsdGeom, UsdLux, UsdShade, Vt, Gf, Sdf
from scipy.spatial.transform import Rotation as R
@@ -171,36 +172,46 @@ class USDMesh(USDGeom):
geom,
stage,
model,
mesh_vertex_ranges,
mesh_face_ranges,
mesh_texcoord_ranges,
mesh_facetexcoord_ranges,
texture_file):
super().__init__(geom, stage)
assert mesh_idx != -1
mesh_vert_adr_from = model.mesh_vertadr[mesh_idx]
mesh_vert_adr_to = model.mesh_vertadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_vert)
mesh_vert = model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
mesh_face_adr_from = model.mesh_faceadr[mesh_idx]
mesh_face_adr_to = model.mesh_faceadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_face)
mesh_face = model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
self.type = 7
USDMesh.mesh_count += 1
xform_path = f'/Mesh_Xform_{USDMesh.mesh_count}'
mesh_path= f'{xform_path}/Mesh_{USDMesh.mesh_count}'
self.xform = UsdGeom.Xform.Define(stage, xform_path)
self.prim = UsdGeom.Mesh.Define(stage, mesh_path)
self.ref = stage.GetPrimAtPath(mesh_path)
self.vertices = model.mesh_vert[mesh_vertex_ranges[mesh_idx]:mesh_vertex_ranges[mesh_idx+1]]
self.vertices = mesh_vert
self.prim.GetPointsAttr().Set(self.vertices)
model.mesh_facenum[mesh_idx]
self.prim.GetFaceVertexCountsAttr().Set([3 for _ in range(model.mesh_facenum[mesh_idx])])
self.faces = model.mesh_face[mesh_face_ranges[mesh_idx]:mesh_face_ranges[mesh_idx+1]]
self.faces = mesh_face
self.prim.GetFaceVertexIndicesAttr().Set(self.faces)
self.texture_file = texture_file
if texture_file:
texid = geom.texid
texcoords = model.mesh_texcoord[mesh_texcoord_ranges[texid]:mesh_texcoord_ranges[texid+1]]
mesh_texcoord_adr_from = model.mesh_texcoordadr[mesh_idx]
mesh_texcoord_adr_to = model.mesh_texcoordadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_texcoord)
mesh_texcoord = model.mesh_texcoord[mesh_texcoord_adr_from:mesh_texcoord_adr_to]
# texid = geom.texid
# texcoords = model.mesh_texcoord[mesh_texcoord_ranges[texid]:mesh_texcoord_ranges[texid+1]]
mesh_facetexcoord_ranges = get_facetexcoord_ranges(model.nmesh, model.mesh_facenum)
facetexcoords = model.mesh_facetexcoord.flatten()
facetexcoords = facetexcoords[mesh_facetexcoord_ranges[mesh_idx]:mesh_facetexcoord_ranges[mesh_idx+1]]
@@ -208,7 +219,7 @@ class USDMesh(USDGeom):
Sdf.ValueTypeNames.TexCoord2fArray,
UsdGeom.Tokens.faceVarying)
self.texcoords.Set(texcoords)
self.texcoords.Set(mesh_texcoord)
self.texcoords.SetIndices(Vt.IntArray(facetexcoords.tolist()));
mtl_path = Sdf.Path(f"/World/Looks/Material_{os.path.splitext(os.path.basename(texture_file))[0]}")
@@ -230,6 +241,9 @@ class USDMesh(USDGeom):
self.prim.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
UsdShade.MaterialBindingAPI(self.prim).Bind(mtl)
USDMesh.mesh_count += 1
def update_geom(self, new_geom):
self.update_pos(new_geom.pos)
self.update_rotation(new_geom.mat)