Create python module for MjcPhysics.
PiperOrigin-RevId: 759602056 Change-Id: I06e604a5f6b3ca3b1a4bb949589d1b7ab72dd6ad
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
ee8abdf854
commit
df09980258
@@ -1,653 +0,0 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <boost/python.hpp>
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#include <string>
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#include "./sceneAPI.h"
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#include "pxr/base/tf/pyAnnotatedBoolResult.h"
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#include "pxr/base/tf/pyContainerConversions.h"
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#include "pxr/base/tf/pyResultConversions.h"
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#include "pxr/base/tf/pyUtils.h"
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#include "pxr/base/tf/wrapTypeHelpers.h"
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#include "pxr/usd/sdf/primSpec.h"
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#include "pxr/usd/usd/pyConversions.h"
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#include "pxr/usd/usd/schemaBase.h"
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using namespace boost::python;
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PXR_NAMESPACE_USING_DIRECTIVE
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namespace {
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#define WRAP_CUSTOM \
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template <class Cls> \
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static void _CustomWrapCode(Cls &_class)
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// fwd decl.
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WRAP_CUSTOM;
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static UsdAttribute _CreateTimestepAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateTimestepAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateApiRateAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateApiRateAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateImpRatioAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateImpRatioAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateWindAttr(MjcPhysicsSceneAPI &self, object defaultVal,
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bool writeSparsely) {
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return self.CreateWindAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
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writeSparsely);
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}
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static UsdAttribute _CreateMagneticAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateMagneticAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double3),
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writeSparsely);
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}
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static UsdAttribute _CreateDensityAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateDensityAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateViscosityAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateViscosityAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateOMarginAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateOMarginAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateOSolRefAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateOSolRefAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
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writeSparsely);
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}
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static UsdAttribute _CreateOSolImpAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateOSolImpAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
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writeSparsely);
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}
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static UsdAttribute _CreateOFrictionAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateOFrictionAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->DoubleArray),
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writeSparsely);
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}
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static UsdAttribute _CreateIntegratorAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateIntegratorAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
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}
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static UsdAttribute _CreateConeAttr(MjcPhysicsSceneAPI &self, object defaultVal,
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bool writeSparsely) {
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return self.CreateConeAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
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}
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static UsdAttribute _CreateJacobianAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateJacobianAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
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}
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static UsdAttribute _CreateSolverAttr(MjcPhysicsSceneAPI &self,
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object defaultVal, bool writeSparsely) {
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return self.CreateSolverAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Token), writeSparsely);
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}
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static UsdAttribute _CreateIterationsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateIterationsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateToleranceAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateToleranceAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateLSIterationsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateLSIterationsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateLSToleranceAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateLSToleranceAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateNoslipIterationsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateNoslipIterationsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateNoslipToleranceAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateNoslipToleranceAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateCCDIterationsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateCCDIterationsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateCCDToleranceAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateCCDToleranceAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Double), writeSparsely);
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}
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static UsdAttribute _CreateSDFIterationsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateSDFIterationsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateSDFInitPointsAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateSDFInitPointsAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Int), writeSparsely);
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}
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static UsdAttribute _CreateActuatorGroupDisableAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateActuatorGroupDisableAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->IntArray),
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writeSparsely);
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}
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static UsdAttribute _CreateConstraintFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateConstraintFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateEqualityFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateEqualityFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateFrictionLossFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateFrictionLossFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateLimitFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateLimitFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateContactFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateContactFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreatePassiveFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreatePassiveFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateGravityFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateGravityFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateClampCtrlFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateClampCtrlFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateWarmStartFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateWarmStartFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateFilterParentFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateFilterParentFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateActuationFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateActuationFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateRefSafeFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateRefSafeFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateSensorFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateSensorFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateMidPhaseFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateMidPhaseFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateNativeCCDFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateNativeCCDFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateEulerDampFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateEulerDampFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateAutoResetFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateAutoResetFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateOverrideFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateOverrideFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateEnergyFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateEnergyFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateFwdinvFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateFwdinvFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateInvDiscreteFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateInvDiscreteFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateMultiCCDFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateMultiCCDFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static UsdAttribute _CreateIslandFlagAttr(MjcPhysicsSceneAPI &self,
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object defaultVal,
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bool writeSparsely) {
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return self.CreateIslandFlagAttr(
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UsdPythonToSdfType(defaultVal, SdfValueTypeNames->Bool), writeSparsely);
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}
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static std::string _Repr(const MjcPhysicsSceneAPI &self) {
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std::string primRepr = TfPyRepr(self.GetPrim());
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return TfStringPrintf("MjcPhysics.SceneAPI(%s)", primRepr.c_str());
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}
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struct MjcPhysicsSceneAPI_CanApplyResult
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: public TfPyAnnotatedBoolResult<std::string> {
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MjcPhysicsSceneAPI_CanApplyResult(bool val, std::string const &msg)
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: TfPyAnnotatedBoolResult<std::string>(val, msg) {}
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};
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static MjcPhysicsSceneAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
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std::string whyNot;
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bool result = MjcPhysicsSceneAPI::CanApply(prim, &whyNot);
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return MjcPhysicsSceneAPI_CanApplyResult(result, whyNot);
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}
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} // anonymous namespace
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void wrapMjcPhysicsSceneAPI() {
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typedef MjcPhysicsSceneAPI This;
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MjcPhysicsSceneAPI_CanApplyResult::Wrap<MjcPhysicsSceneAPI_CanApplyResult>(
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"_CanApplyResult", "whyNot");
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class_<This, bases<UsdAPISchemaBase> > cls("SceneAPI");
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cls.def(init<UsdPrim>(arg("prim")))
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.def(init<UsdSchemaBase const &>(arg("schemaObj")))
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.def(TfTypePythonClass())
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.def("Get", &This::Get, (arg("stage"), arg("path")))
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.staticmethod("Get")
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.def("CanApply", &_WrapCanApply, (arg("prim")))
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.staticmethod("CanApply")
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.def("Apply", &This::Apply, (arg("prim")))
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.staticmethod("Apply")
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.def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
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arg("includeInherited") = true,
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return_value_policy<TfPySequenceToList>())
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.staticmethod("GetSchemaAttributeNames")
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.def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
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return_value_policy<return_by_value>())
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.staticmethod("_GetStaticTfType")
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.def(!self)
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.def("GetTimestepAttr", &This::GetTimestepAttr)
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.def("CreateTimestepAttr", &_CreateTimestepAttr,
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(arg("defaultValue") = object(), arg("writeSparsely") = false))
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.def("GetApiRateAttr", &This::GetApiRateAttr)
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.def("CreateApiRateAttr", &_CreateApiRateAttr,
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(arg("defaultValue") = object(), arg("writeSparsely") = false))
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.def("GetImpRatioAttr", &This::GetImpRatioAttr)
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.def("CreateImpRatioAttr", &_CreateImpRatioAttr,
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(arg("defaultValue") = object(), arg("writeSparsely") = false))
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.def("GetWindAttr", &This::GetWindAttr)
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.def("CreateWindAttr", &_CreateWindAttr,
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||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetMagneticAttr", &This::GetMagneticAttr)
|
||||
.def("CreateMagneticAttr", &_CreateMagneticAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetDensityAttr", &This::GetDensityAttr)
|
||||
.def("CreateDensityAttr", &_CreateDensityAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetViscosityAttr", &This::GetViscosityAttr)
|
||||
.def("CreateViscosityAttr", &_CreateViscosityAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetOMarginAttr", &This::GetOMarginAttr)
|
||||
.def("CreateOMarginAttr", &_CreateOMarginAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetOSolRefAttr", &This::GetOSolRefAttr)
|
||||
.def("CreateOSolRefAttr", &_CreateOSolRefAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetOSolImpAttr", &This::GetOSolImpAttr)
|
||||
.def("CreateOSolImpAttr", &_CreateOSolImpAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetOFrictionAttr", &This::GetOFrictionAttr)
|
||||
.def("CreateOFrictionAttr", &_CreateOFrictionAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetIntegratorAttr", &This::GetIntegratorAttr)
|
||||
.def("CreateIntegratorAttr", &_CreateIntegratorAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetConeAttr", &This::GetConeAttr)
|
||||
.def("CreateConeAttr", &_CreateConeAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetJacobianAttr", &This::GetJacobianAttr)
|
||||
.def("CreateJacobianAttr", &_CreateJacobianAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetSolverAttr", &This::GetSolverAttr)
|
||||
.def("CreateSolverAttr", &_CreateSolverAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetIterationsAttr", &This::GetIterationsAttr)
|
||||
.def("CreateIterationsAttr", &_CreateIterationsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetToleranceAttr", &This::GetToleranceAttr)
|
||||
.def("CreateToleranceAttr", &_CreateToleranceAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetLSIterationsAttr", &This::GetLSIterationsAttr)
|
||||
.def("CreateLSIterationsAttr", &_CreateLSIterationsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetLSToleranceAttr", &This::GetLSToleranceAttr)
|
||||
.def("CreateLSToleranceAttr", &_CreateLSToleranceAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetNoslipIterationsAttr", &This::GetNoslipIterationsAttr)
|
||||
.def("CreateNoslipIterationsAttr", &_CreateNoslipIterationsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetNoslipToleranceAttr", &This::GetNoslipToleranceAttr)
|
||||
.def("CreateNoslipToleranceAttr", &_CreateNoslipToleranceAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetCCDIterationsAttr", &This::GetCCDIterationsAttr)
|
||||
.def("CreateCCDIterationsAttr", &_CreateCCDIterationsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetCCDToleranceAttr", &This::GetCCDToleranceAttr)
|
||||
.def("CreateCCDToleranceAttr", &_CreateCCDToleranceAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetSDFIterationsAttr", &This::GetSDFIterationsAttr)
|
||||
.def("CreateSDFIterationsAttr", &_CreateSDFIterationsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetSDFInitPointsAttr", &This::GetSDFInitPointsAttr)
|
||||
.def("CreateSDFInitPointsAttr", &_CreateSDFInitPointsAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetActuatorGroupDisableAttr", &This::GetActuatorGroupDisableAttr)
|
||||
.def("CreateActuatorGroupDisableAttr", &_CreateActuatorGroupDisableAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetConstraintFlagAttr", &This::GetConstraintFlagAttr)
|
||||
.def("CreateConstraintFlagAttr", &_CreateConstraintFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetEqualityFlagAttr", &This::GetEqualityFlagAttr)
|
||||
.def("CreateEqualityFlagAttr", &_CreateEqualityFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetFrictionLossFlagAttr", &This::GetFrictionLossFlagAttr)
|
||||
.def("CreateFrictionLossFlagAttr", &_CreateFrictionLossFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetLimitFlagAttr", &This::GetLimitFlagAttr)
|
||||
.def("CreateLimitFlagAttr", &_CreateLimitFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetContactFlagAttr", &This::GetContactFlagAttr)
|
||||
.def("CreateContactFlagAttr", &_CreateContactFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetPassiveFlagAttr", &This::GetPassiveFlagAttr)
|
||||
.def("CreatePassiveFlagAttr", &_CreatePassiveFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetGravityFlagAttr", &This::GetGravityFlagAttr)
|
||||
.def("CreateGravityFlagAttr", &_CreateGravityFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetClampCtrlFlagAttr", &This::GetClampCtrlFlagAttr)
|
||||
.def("CreateClampCtrlFlagAttr", &_CreateClampCtrlFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetWarmStartFlagAttr", &This::GetWarmStartFlagAttr)
|
||||
.def("CreateWarmStartFlagAttr", &_CreateWarmStartFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetFilterParentFlagAttr", &This::GetFilterParentFlagAttr)
|
||||
.def("CreateFilterParentFlagAttr", &_CreateFilterParentFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetActuationFlagAttr", &This::GetActuationFlagAttr)
|
||||
.def("CreateActuationFlagAttr", &_CreateActuationFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetRefSafeFlagAttr", &This::GetRefSafeFlagAttr)
|
||||
.def("CreateRefSafeFlagAttr", &_CreateRefSafeFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetSensorFlagAttr", &This::GetSensorFlagAttr)
|
||||
.def("CreateSensorFlagAttr", &_CreateSensorFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetMidPhaseFlagAttr", &This::GetMidPhaseFlagAttr)
|
||||
.def("CreateMidPhaseFlagAttr", &_CreateMidPhaseFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetNativeCCDFlagAttr", &This::GetNativeCCDFlagAttr)
|
||||
.def("CreateNativeCCDFlagAttr", &_CreateNativeCCDFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetEulerDampFlagAttr", &This::GetEulerDampFlagAttr)
|
||||
.def("CreateEulerDampFlagAttr", &_CreateEulerDampFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetAutoResetFlagAttr", &This::GetAutoResetFlagAttr)
|
||||
.def("CreateAutoResetFlagAttr", &_CreateAutoResetFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetOverrideFlagAttr", &This::GetOverrideFlagAttr)
|
||||
.def("CreateOverrideFlagAttr", &_CreateOverrideFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetEnergyFlagAttr", &This::GetEnergyFlagAttr)
|
||||
.def("CreateEnergyFlagAttr", &_CreateEnergyFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetFwdinvFlagAttr", &This::GetFwdinvFlagAttr)
|
||||
.def("CreateFwdinvFlagAttr", &_CreateFwdinvFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetInvDiscreteFlagAttr", &This::GetInvDiscreteFlagAttr)
|
||||
.def("CreateInvDiscreteFlagAttr", &_CreateInvDiscreteFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetMultiCCDFlagAttr", &This::GetMultiCCDFlagAttr)
|
||||
.def("CreateMultiCCDFlagAttr", &_CreateMultiCCDFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("GetIslandFlagAttr", &This::GetIslandFlagAttr)
|
||||
.def("CreateIslandFlagAttr", &_CreateIslandFlagAttr,
|
||||
(arg("defaultValue") = object(), arg("writeSparsely") = false))
|
||||
|
||||
.def("__repr__", ::_Repr);
|
||||
|
||||
_CustomWrapCode(cls);
|
||||
}
|
||||
|
||||
// ===================================================================== //
|
||||
// Feel free to add custom code below this line, it will be preserved by
|
||||
// the code generator. The entry point for your custom code should look
|
||||
// minimally like the following:
|
||||
//
|
||||
// WRAP_CUSTOM {
|
||||
// _class
|
||||
// .def("MyCustomMethod", ...)
|
||||
// ;
|
||||
// }
|
||||
//
|
||||
// Of course any other ancillary or support code may be provided.
|
||||
//
|
||||
// Just remember to wrap code in the appropriate delimiters:
|
||||
// 'namespace {', '}'.
|
||||
//
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
|
||||
|
||||
namespace {
|
||||
|
||||
WRAP_CUSTOM {}
|
||||
|
||||
} // namespace
|
||||
@@ -1,120 +0,0 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <boost/python.hpp>
|
||||
#include <string>
|
||||
|
||||
#include "./siteAPI.h"
|
||||
#include "pxr/base/tf/pyAnnotatedBoolResult.h"
|
||||
#include "pxr/base/tf/pyContainerConversions.h"
|
||||
#include "pxr/base/tf/pyResultConversions.h"
|
||||
#include "pxr/base/tf/pyUtils.h"
|
||||
#include "pxr/base/tf/wrapTypeHelpers.h"
|
||||
#include "pxr/usd/sdf/primSpec.h"
|
||||
#include "pxr/usd/usd/pyConversions.h"
|
||||
#include "pxr/usd/usd/schemaBase.h"
|
||||
|
||||
using namespace boost::python;
|
||||
|
||||
PXR_NAMESPACE_USING_DIRECTIVE
|
||||
|
||||
namespace {
|
||||
|
||||
#define WRAP_CUSTOM \
|
||||
template <class Cls> \
|
||||
static void _CustomWrapCode(Cls &_class)
|
||||
|
||||
// fwd decl.
|
||||
WRAP_CUSTOM;
|
||||
|
||||
static std::string _Repr(const MjcPhysicsSiteAPI &self) {
|
||||
std::string primRepr = TfPyRepr(self.GetPrim());
|
||||
return TfStringPrintf("MjcPhysics.SiteAPI(%s)", primRepr.c_str());
|
||||
}
|
||||
|
||||
struct MjcPhysicsSiteAPI_CanApplyResult
|
||||
: public TfPyAnnotatedBoolResult<std::string> {
|
||||
MjcPhysicsSiteAPI_CanApplyResult(bool val, std::string const &msg)
|
||||
: TfPyAnnotatedBoolResult<std::string>(val, msg) {}
|
||||
};
|
||||
|
||||
static MjcPhysicsSiteAPI_CanApplyResult _WrapCanApply(const UsdPrim &prim) {
|
||||
std::string whyNot;
|
||||
bool result = MjcPhysicsSiteAPI::CanApply(prim, &whyNot);
|
||||
return MjcPhysicsSiteAPI_CanApplyResult(result, whyNot);
|
||||
}
|
||||
|
||||
} // anonymous namespace
|
||||
|
||||
void wrapMjcPhysicsSiteAPI() {
|
||||
typedef MjcPhysicsSiteAPI This;
|
||||
|
||||
MjcPhysicsSiteAPI_CanApplyResult::Wrap<MjcPhysicsSiteAPI_CanApplyResult>(
|
||||
"_CanApplyResult", "whyNot");
|
||||
|
||||
class_<This, bases<UsdAPISchemaBase> > cls("SiteAPI");
|
||||
|
||||
cls.def(init<UsdPrim>(arg("prim")))
|
||||
.def(init<UsdSchemaBase const &>(arg("schemaObj")))
|
||||
.def(TfTypePythonClass())
|
||||
|
||||
.def("Get", &This::Get, (arg("stage"), arg("path")))
|
||||
.staticmethod("Get")
|
||||
|
||||
.def("CanApply", &_WrapCanApply, (arg("prim")))
|
||||
.staticmethod("CanApply")
|
||||
|
||||
.def("Apply", &This::Apply, (arg("prim")))
|
||||
.staticmethod("Apply")
|
||||
|
||||
.def("GetSchemaAttributeNames", &This::GetSchemaAttributeNames,
|
||||
arg("includeInherited") = true,
|
||||
return_value_policy<TfPySequenceToList>())
|
||||
.staticmethod("GetSchemaAttributeNames")
|
||||
|
||||
.def("_GetStaticTfType", (TfType const &(*)())TfType::Find<This>,
|
||||
return_value_policy<return_by_value>())
|
||||
.staticmethod("_GetStaticTfType")
|
||||
|
||||
.def(!self)
|
||||
|
||||
.def("__repr__", ::_Repr);
|
||||
|
||||
_CustomWrapCode(cls);
|
||||
}
|
||||
|
||||
// ===================================================================== //
|
||||
// Feel free to add custom code below this line, it will be preserved by
|
||||
// the code generator. The entry point for your custom code should look
|
||||
// minimally like the following:
|
||||
//
|
||||
// WRAP_CUSTOM {
|
||||
// _class
|
||||
// .def("MyCustomMethod", ...)
|
||||
// ;
|
||||
// }
|
||||
//
|
||||
// Of course any other ancillary or support code may be provided.
|
||||
//
|
||||
// Just remember to wrap code in the appropriate delimiters:
|
||||
// 'namespace {', '}'.
|
||||
//
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
|
||||
|
||||
namespace {
|
||||
|
||||
WRAP_CUSTOM {}
|
||||
|
||||
} // namespace
|
||||
@@ -1,150 +0,0 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
// GENERATED FILE. DO NOT EDIT.
|
||||
#include <boost/python/class.hpp>
|
||||
|
||||
#include "./tokens.h"
|
||||
|
||||
PXR_NAMESPACE_USING_DIRECTIVE
|
||||
|
||||
namespace {
|
||||
|
||||
// Helper to return a static token as a string. We wrap tokens as Python
|
||||
// strings and for some reason simply wrapping the token using def_readonly
|
||||
// bypasses to-Python conversion, leading to the error that there's no
|
||||
// Python type for the C++ TfToken type. So we wrap this functor instead.
|
||||
class _WrapStaticToken {
|
||||
public:
|
||||
_WrapStaticToken(const TfToken* token) : _token(token) {}
|
||||
|
||||
std::string operator()() const { return _token->GetString(); }
|
||||
|
||||
private:
|
||||
const TfToken* _token;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
void _AddToken(T& cls, const char* name, const TfToken& token) {
|
||||
cls.add_static_property(
|
||||
name,
|
||||
boost::python::make_function(
|
||||
_WrapStaticToken(&token),
|
||||
boost::python::return_value_policy<boost::python::return_by_value>(),
|
||||
boost::mpl::vector1<std::string>()));
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
void wrapMjcPhysicsTokens() {
|
||||
boost::python::class_<MjcPhysicsTokensType, boost::noncopyable> cls(
|
||||
"Tokens", boost::python::no_init);
|
||||
_AddToken(cls, "auto_", MjcPhysicsTokens->auto_);
|
||||
_AddToken(cls, "cg", MjcPhysicsTokens->cg);
|
||||
_AddToken(cls, "dense", MjcPhysicsTokens->dense);
|
||||
_AddToken(cls, "elliptic", MjcPhysicsTokens->elliptic);
|
||||
_AddToken(cls, "euler", MjcPhysicsTokens->euler);
|
||||
_AddToken(cls, "implicit", MjcPhysicsTokens->implicit);
|
||||
_AddToken(cls, "implicitfast", MjcPhysicsTokens->implicitfast);
|
||||
_AddToken(cls, "mjcPhysicsActuatorgroupdisable",
|
||||
MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
|
||||
_AddToken(cls, "mjcPhysicsApirate", MjcPhysicsTokens->mjcPhysicsApirate);
|
||||
_AddToken(cls, "mjcPhysicsCcd_iterations",
|
||||
MjcPhysicsTokens->mjcPhysicsCcd_iterations);
|
||||
_AddToken(cls, "mjcPhysicsCcd_tolerance",
|
||||
MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
|
||||
_AddToken(cls, "mjcPhysicsCone", MjcPhysicsTokens->mjcPhysicsCone);
|
||||
_AddToken(cls, "mjcPhysicsDensity", MjcPhysicsTokens->mjcPhysicsDensity);
|
||||
_AddToken(cls, "mjcPhysicsFlagActuation",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagActuation);
|
||||
_AddToken(cls, "mjcPhysicsFlagAutoreset",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
|
||||
_AddToken(cls, "mjcPhysicsFlagClampctrl",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
|
||||
_AddToken(cls, "mjcPhysicsFlagConstraint",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagConstraint);
|
||||
_AddToken(cls, "mjcPhysicsFlagContact",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagContact);
|
||||
_AddToken(cls, "mjcPhysicsFlagEnergy",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagEnergy);
|
||||
_AddToken(cls, "mjcPhysicsFlagEquality",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagEquality);
|
||||
_AddToken(cls, "mjcPhysicsFlagEulerdamp",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
|
||||
_AddToken(cls, "mjcPhysicsFlagFilterparent",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
|
||||
_AddToken(cls, "mjcPhysicsFlagFrictionloss",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
|
||||
_AddToken(cls, "mjcPhysicsFlagFwdinv",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
|
||||
_AddToken(cls, "mjcPhysicsFlagGravity",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagGravity);
|
||||
_AddToken(cls, "mjcPhysicsFlagInvdiscrete",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
|
||||
_AddToken(cls, "mjcPhysicsFlagIsland",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagIsland);
|
||||
_AddToken(cls, "mjcPhysicsFlagLimit", MjcPhysicsTokens->mjcPhysicsFlagLimit);
|
||||
_AddToken(cls, "mjcPhysicsFlagMidphase",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagMidphase);
|
||||
_AddToken(cls, "mjcPhysicsFlagMulticcd",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
|
||||
_AddToken(cls, "mjcPhysicsFlagNativeccd",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
|
||||
_AddToken(cls, "mjcPhysicsFlagOverride",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagOverride);
|
||||
_AddToken(cls, "mjcPhysicsFlagPassive",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagPassive);
|
||||
_AddToken(cls, "mjcPhysicsFlagRefsafe",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
|
||||
_AddToken(cls, "mjcPhysicsFlagSensor",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagSensor);
|
||||
_AddToken(cls, "mjcPhysicsFlagWarmstart",
|
||||
MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
|
||||
_AddToken(cls, "mjcPhysicsImpratio", MjcPhysicsTokens->mjcPhysicsImpratio);
|
||||
_AddToken(cls, "mjcPhysicsIntegrator",
|
||||
MjcPhysicsTokens->mjcPhysicsIntegrator);
|
||||
_AddToken(cls, "mjcPhysicsIterations",
|
||||
MjcPhysicsTokens->mjcPhysicsIterations);
|
||||
_AddToken(cls, "mjcPhysicsJacobian", MjcPhysicsTokens->mjcPhysicsJacobian);
|
||||
_AddToken(cls, "mjcPhysicsLs_iterations",
|
||||
MjcPhysicsTokens->mjcPhysicsLs_iterations);
|
||||
_AddToken(cls, "mjcPhysicsLs_tolerance",
|
||||
MjcPhysicsTokens->mjcPhysicsLs_tolerance);
|
||||
_AddToken(cls, "mjcPhysicsMagnetic", MjcPhysicsTokens->mjcPhysicsMagnetic);
|
||||
_AddToken(cls, "mjcPhysicsNoslip_iterations",
|
||||
MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
|
||||
_AddToken(cls, "mjcPhysicsNoslip_tolerance",
|
||||
MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
|
||||
_AddToken(cls, "mjcPhysicsO_friction",
|
||||
MjcPhysicsTokens->mjcPhysicsO_friction);
|
||||
_AddToken(cls, "mjcPhysicsO_margin", MjcPhysicsTokens->mjcPhysicsO_margin);
|
||||
_AddToken(cls, "mjcPhysicsO_solimp", MjcPhysicsTokens->mjcPhysicsO_solimp);
|
||||
_AddToken(cls, "mjcPhysicsO_solref", MjcPhysicsTokens->mjcPhysicsO_solref);
|
||||
_AddToken(cls, "mjcPhysicsSdf_initpoints",
|
||||
MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
|
||||
_AddToken(cls, "mjcPhysicsSdf_iterations",
|
||||
MjcPhysicsTokens->mjcPhysicsSdf_iterations);
|
||||
_AddToken(cls, "mjcPhysicsSolver", MjcPhysicsTokens->mjcPhysicsSolver);
|
||||
_AddToken(cls, "mjcPhysicsTimestep", MjcPhysicsTokens->mjcPhysicsTimestep);
|
||||
_AddToken(cls, "mjcPhysicsTolerance", MjcPhysicsTokens->mjcPhysicsTolerance);
|
||||
_AddToken(cls, "mjcPhysicsViscosity", MjcPhysicsTokens->mjcPhysicsViscosity);
|
||||
_AddToken(cls, "mjcPhysicsWind", MjcPhysicsTokens->mjcPhysicsWind);
|
||||
_AddToken(cls, "newton", MjcPhysicsTokens->newton);
|
||||
_AddToken(cls, "pgs", MjcPhysicsTokens->pgs);
|
||||
_AddToken(cls, "pyramidal", MjcPhysicsTokens->pyramidal);
|
||||
_AddToken(cls, "rk4", MjcPhysicsTokens->rk4);
|
||||
_AddToken(cls, "sparse", MjcPhysicsTokens->sparse);
|
||||
_AddToken(cls, "SceneAPI", MjcPhysicsTokens->SceneAPI);
|
||||
_AddToken(cls, "SiteAPI", MjcPhysicsTokens->SiteAPI);
|
||||
}
|
||||
Reference in New Issue
Block a user