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

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PiperOrigin-RevId: 880822823
Change-Id: Ib1fe2e4b500f64f44e306eb6adacf8b1c5e39ceb
This commit is contained in:
Copybara-Service
2026-03-09 06:22:17 -07:00
parent ed0d7ba29f 1378ab6d58
commit cc9a474ed8
1 changed files with 5 additions and 1 deletions
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plugin/usd_decoder/usd_decoder.cc
+5 -1
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@@ -1720,7 +1720,11 @@ void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
ParseDisplayColorAndOpacity(gprim, geom); ParseDisplayColorAndOpacity(gprim, geom);
SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache); SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
if (!MaybeParseGeomPrimitive(gprim, 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 = pxr::UsdShadeMaterial bound_material =