Merge pull request #3148 from LouRohanNV:usd-visual-prim-mesh-inertia

PiperOrigin-RevId: 880822823 Change-Id: Ib1fe2e4b500f64f44e306eb6adacf8b1c5e39ceb
2026-03-09 06:22:17 -07:00
parent ed0d7ba29f 1378ab6d58
commit cc9a474ed8
1 changed files with 5 additions and 1 deletions
@@ -1720,7 +1720,11 @@ void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
  ParseDisplayColorAndOpacity(gprim, geom);
  SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
  if (!MaybeParseGeomPrimitive(gprim, geom, caches.xform_cache)) {
-    ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    mjsMesh* mesh = ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    if (mesh != nullptr && gprim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
+      ParseMjcPhysicsMeshCollisionAPI(mesh,
+                                      pxr::MjcPhysicsMeshCollisionAPI(gprim));
+    }
  }

  pxr::UsdShadeMaterial bound_material =