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Fix various MuJoCo Studio build issues on Windows, MacOS and Linux

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PiperOrigin-RevId: 833313973
Change-Id: I7ec181374e0bb49c32420d025044c31f6fc3c657
This commit is contained in:
Matija Kecman
2025-11-17 06:34:43 -08:00
committed by Copybara-Service
parent a66cf303f8
commit 8eca9926dc
16 changed files with 108 additions and 67 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+2 -1
View File
@@ -16,6 +16,7 @@
#include <algorithm>
#include <cstddef>
#include <numbers>
#include <string>
#include <unordered_map>
#include <unordered_set>
@@ -2155,7 +2156,7 @@ class ModelWriter {
2 * znear *
(use_intrinsic ? 1.0f / cam_intrinsic[1] *
(cam_sensorsize[1] / 2.f - cam_intrinsic[3])
: mju_tan((fovy / 2) * (M_PI / 180.0)));
: mju_tan((fovy / 2) * (std::numbers::pi / 180.0)));
float horizontal_aperture =
use_intrinsic ? 2 * znear / cam_intrinsic[0] *
(cam_sensorsize[0] / 2.f - cam_intrinsic[2])
src/experimental/usd/usd_to_mjspec.cc
+4 -3
View File
@@ -17,6 +17,7 @@
#include <cstddef>
#include <map>
#include <memory>
#include <numbers>
#include <optional>
#include <string>
#include <vector>
@@ -1837,8 +1838,8 @@ void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
mj_joint->range[0] = lower;
mj_joint->range[1] = upper;
} else {
mj_joint->range[0] = lower * M_PI / 180.0;
mj_joint->range[1] = upper * M_PI / 180.0;
mj_joint->range[0] = lower * std::numbers::pi / 180.0;
mj_joint->range[1] = upper * std::numbers::pi / 180.0;
}
}
} else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
@@ -2129,7 +2130,7 @@ mjSpec* mj_parseUSDStage(const pxr::UsdStageRefPtr stage) {
return spec;
}
MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
int error_sz) {
auto stage = pxr::UsdStage::Open(identifier);
return mj_parseUSDStage(stage);