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Add support for displayColor/Opacity (convert to rgba)

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PiperOrigin-RevId: 776488857
Change-Id: I34713748ac553b5fdfad736801cdaa7dc2b7f1b0
This commit is contained in:
Robin Alazard
2025-06-27 02:15:47 -07:00
committed by Copybara-Service
parent 24789f8fe5
commit 8f6a13aa8f
1 changed files with 28 additions and 0 deletions
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src/experimental/usd/usd_to_mjspec.cc
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@@ -49,6 +49,8 @@
#include <pxr/usd/usdGeom/gprim.h>
#include <pxr/usd/usdGeom/mesh.h>
#include <pxr/usd/usdGeom/plane.h>
#include <pxr/usd/usdGeom/primvar.h>
#include <pxr/usd/usdGeom/primvarsAPI.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdGeom/xformCache.h>
@@ -742,6 +744,32 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
ParseMjcPhysicsCollisionAPI(geom, pxr::MjcPhysicsCollisionAPI(prim));
}
// Convert displayColor and displayOpacity to rgba.
// We want to support primvar inheritance, hence FindPrimvarWithInheritance.
pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
pxr::UsdGeomPrimvar displayColorPrimvar =
primvarsAPI.FindPrimvarWithInheritance(
pxr::UsdGeomTokens->primvarsDisplayColor);
pxr::UsdGeomPrimvar displayOpacityPrimvar =
primvarsAPI.FindPrimvarWithInheritance(
pxr::UsdGeomTokens->primvarsDisplayOpacity);
if (displayColorPrimvar.HasAuthoredValue()) {
pxr::VtArray<pxr::GfVec3f> display_color;
displayColorPrimvar.Get(&display_color);
if (!display_color.empty()) {
geom->rgba[0] = display_color[0][0];
geom->rgba[1] = display_color[0][1];
geom->rgba[2] = display_color[0][2];
}
}
if (displayOpacityPrimvar.HasAuthoredValue()) {
pxr::VtArray<float> display_opacity;
displayOpacityPrimvar.Get(&display_opacity);
if (!display_opacity.empty()) {
geom->rgba[3] = display_opacity[0];
}
}
SetLocalPoseFromPrim(prim, parent_prim, geom, xform_cache);
if (!MaybeParseGeomPrimitive(prim, geom, xform_cache)) {