chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add MeshCollisionAPI to collider Meshes with convexHull approximation.

Browse Source 
PiperOrigin-RevId: 754014642
Change-Id: I44cff505a2b9b7120a38f8c896b2c6560ce51c43
This commit is contained in:
Robin Alazard
2025-05-02 08:34:28 -07:00
committed by Copybara-Service
parent ab63a7e824
commit 253abad210
2 changed files with 26 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+11 -5
View File
@@ -45,7 +45,9 @@
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#include <pxr/usd/usdPhysics/tokens.h>
PXR_NAMESPACE_OPEN_SCOPE
// clang-format off
@@ -675,7 +677,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
//
// body_3/body_3 [rigidbody]
// body_3/body_3/body_3_col [] <-- Intermediate prim for mesh instancing
// body_3/body_3/body_3_col/Mesh [collider]
// body_3/body_3/body_3_col/Mesh [collider, mesh collider]
// ground [collider] (Static collider)
EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -753,13 +755,17 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
pxr::UsdPhysicsCollisionAPI);
// body_3/body_3/body_3_col/Mesh [collider]
// body_3/body_3/body_3_col/Mesh [collider, mesh collider]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
EXPECT_PRIM_API_NOT_APPLIED(
stage, "/test/body_3/body_3/body_3_col/Mesh",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
pxr::UsdPhysicsCollisionAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
pxr::UsdPhysicsMeshCollisionAPI);
ExpectAttributeEqual(
stage, "/test/body_3/body_3/body_3_col/Mesh.physics:approximation",
pxr::UsdPhysicsTokens->convexHull);
}
} // namespace