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Add MeshCollisionAPI to collider Meshes with convexHull approximation.

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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
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+15
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@@ -883,6 +883,21 @@ class ModelWriter {
model_->geom_conaffinity[geom_id] != 0)) { model_->geom_conaffinity[geom_id] != 0)) {
ApplyApiSchema(data_, geom_path, ApplyApiSchema(data_, geom_path,
pxr::UsdPhysicsTokens->PhysicsCollisionAPI); pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
// For meshes, also apply PhysicsMeshCollisionAPI and set the
// approximation attribute.
if (geom->type == mjGEOM_MESH) {
ApplyApiSchema(data_, geom_path,
pxr::UsdPhysicsTokens->PhysicsMeshCollisionAPI);
// Note: MuJoCo documentation states that for collision purposes, meshes
// are always replaced with their convex hulls. Therefore, we set the
// approximation attribute to convexHull explicitly.
pxr::SdfPath approximation_attr = CreateAttributeSpec(
data_, geom_path, pxr::UsdPhysicsTokens->physicsApproximation,
pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
SetAttributeDefault(data_, approximation_attr,
pxr::UsdPhysicsTokens->convexHull);
}
} }
mjsDefault *spec_default = mjs_getDefault(geom->element); mjsDefault *spec_default = mjs_getDefault(geom->element);
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/sphere.h>
#include <pxr/usd/usdGeom/tokens.h> #include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdPhysics/collisionAPI.h> #include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h> #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#include <pxr/usd/usdPhysics/tokens.h>
PXR_NAMESPACE_OPEN_SCOPE PXR_NAMESPACE_OPEN_SCOPE
// clang-format off // clang-format off
@@ -675,7 +677,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
// //
// body_3/body_3 [rigidbody] // body_3/body_3 [rigidbody]
// body_3/body_3/body_3_col [] <-- Intermediate prim for mesh instancing // 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) // ground [collider] (Static collider)
EXPECT_PRIM_VALID(stage, "/test/ground"); EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -753,13 +755,17 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
pxr::UsdPhysicsRigidBodyAPI); pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col", EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
pxr::UsdPhysicsCollisionAPI); 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_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
EXPECT_PRIM_API_NOT_APPLIED( EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
stage, "/test/body_3/body_3/body_3_col/Mesh", pxr::UsdPhysicsRigidBodyAPI);
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh", EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
pxr::UsdPhysicsCollisionAPI); 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 } // namespace