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Check for the UsdPhysicsFilteredPairsAPI in the body parsing function

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This commit is contained in:
Lou Rohan
2026-02-23 12:51:02 -06:00
parent 4fe8f73e44
commit e895820e24
1 changed files with 4 additions and 6 deletions
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plugin/usd_decoder/usd_decoder.cc
+4 -6
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@@ -2250,12 +2250,8 @@ void ParseMjcPhysicsKeyframe(mjSpec* spec,
}
void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
if (!prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
return;
}
auto filtered_pairs_api = pxr::UsdPhysicsFilteredPairsAPI(prim);
pxr::SdfPathVector filtered_bodies;
filtered_pairs_api.GetFilteredPairsRel().GetTargets(&filtered_bodies);
pxr::UsdPhysicsFilteredPairsAPI(prim).GetFilteredPairsRel().GetTargets(&filtered_bodies);
for (const auto& filtered_body : filtered_bodies) {
mjsExclude* exclude = mjs_addExclude(spec);
mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str());
@@ -2283,7 +2279,9 @@ mjsBody* ParseUsdPhysicsRigidbody(
body->element, kUsdPrimPathKey, usd_primpath,
[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
ParseUsdFilteredPairsAPI(spec, prim);
if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
ParseUsdFilteredPairsAPI(spec, prim);
}
return body;
}