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Add support for normal maps in mujoco file format plugin

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PiperOrigin-RevId: 771992722
Change-Id: Ifeae9e12f1071018112e697402361caa84095ff2
This commit is contained in:
Google DeepMind
2025-06-16 06:00:14 -07:00
committed by Copybara-Service
parent 3969cac614
commit bb1b2db3a9
4 changed files with 64 additions and 17 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+40 -12
View File
@@ -21,6 +21,7 @@
#include <utility>
#include <vector>
#include <mujoco/mjspec.h>
#include <mujoco/mujoco.h>
#include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
#include "mjcf/utils.h"
@@ -94,6 +95,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
((inputsMetallic, "inputs:metallic"))
(repeat)
((sourceMesh, pxr::UsdGeomTokens->Mesh))
((inputsNormal, "inputs:normal"))
);
// Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
@@ -630,12 +632,10 @@ class ModelWriter {
}
}
pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
const char *texture_file) {
// Shader "uvmap"
pxr::SdfPath AddUVTextureShader(const pxr::SdfPath &material_path,
const pxr::TfToken &name) {
pxr::SdfPath uvmap_shader_path =
CreatePrimSpec(data_, material_path, pxr::TfToken("uvmap"),
pxr::UsdShadeTokens->Shader);
CreatePrimSpec(data_, material_path, name, pxr::UsdShadeTokens->Shader);
pxr::SdfPath uvmap_info_id_attr = CreateAttributeSpec(
data_, uvmap_shader_path, pxr::UsdShadeTokens->infoId,
@@ -652,10 +652,15 @@ class ModelWriter {
CreateAttributeSpec(data_, uvmap_shader_path, kTokens->outputsSt,
pxr::SdfValueTypeNames->Float2);
// Shader "texture"
return uvmap_st_output_attr;
}
pxr::SdfPath AddTextureShader(const pxr::SdfPath &material_path,
const char *texture_file,
const pxr::TfToken &name,
const pxr::SdfPath &uvmap_st_output_attr) {
pxr::SdfPath texture_shader_path =
CreatePrimSpec(data_, material_path, pxr::TfToken("texture"),
pxr::UsdShadeTokens->Shader);
CreatePrimSpec(data_, material_path, name, pxr::UsdShadeTokens->Shader);
pxr::SdfPath texture_info_id_attr = CreateAttributeSpec(
data_, texture_shader_path, pxr::UsdShadeTokens->infoId,
pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
@@ -715,21 +720,44 @@ class ModelWriter {
pxr::UsdShadeTokens->outputsDisplacement,
pxr::SdfValueTypeNames->Token);
const pxr::SdfPath &uvmap_st_output_attr =
AddUVTextureShader(material_path, pxr::TfToken("uvmap"));
// Find the normal texture if specified.
const mjStringVec &textures = *(material->textures);
if (mjTEXROLE_NORMAL < textures.size()) {
std::string normal_texture_name = textures[mjTEXROLE_NORMAL];
mjsTexture *normal_texture = mjs_asTexture(
mjs_findElement(spec_, mjOBJ_TEXTURE, normal_texture_name.c_str()));
if (normal_texture) {
pxr::SdfPath normal_attr = CreateAttributeSpec(
data_, preview_surface_shader_path, kTokens->inputsNormal,
pxr::SdfValueTypeNames->Normal3f);
// Create the normal map shader and connect its output to the preview
// surface normal attr.
pxr::SdfPath normal_map_output_attr =
AddTextureShader(material_path, normal_texture->file->c_str(),
pxr::TfToken("normal"), uvmap_st_output_attr);
AddAttributeConnection(data_, normal_attr, normal_map_output_attr);
}
}
pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
pxr::SdfValueTypeNames->Color3f);
// Find the main texture if specified.
std::string main_texture_name = (*material->textures)[mjTEXROLE_RGB];
std::string main_texture_name = textures[mjTEXROLE_RGB];
mjsTexture *main_texture = mjs_asTexture(
mjs_findElement(spec_, mjOBJ_TEXTURE, main_texture_name.c_str()));
if (main_texture) {
// Create the texture shader and connect it to the diffuse color
// attribute.
pxr::SdfPath texture_rgb_output_attr =
AddTextureShader(material_path, main_texture->file->c_str());
pxr::SdfPath texture_diffuse_output_attr =
AddTextureShader(material_path, main_texture->file->c_str(),
pxr::TfToken("diffuse"), uvmap_st_output_attr);
AddAttributeConnection(data_, diffuse_color_attr,
texture_rgb_output_attr);
texture_diffuse_output_attr);
} else {
// If no texture is specified, use the rgba diffuse color.
SetAttributeDefault(data_, diffuse_color_attr,