chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Check for the UsdPhysicsFilteredPairsAPI in the body parsing function

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
plugin/usd_decoder/usd_decoder.cc
+4 -6
View File
@@ -2250,12 +2250,8 @@ void ParseMjcPhysicsKeyframe(mjSpec* spec,
} }
void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) { 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; 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) { for (const auto& filtered_body : filtered_bodies) {
mjsExclude* exclude = mjs_addExclude(spec); mjsExclude* exclude = mjs_addExclude(spec);
mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str()); mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str());
@@ -2283,7 +2279,9 @@ mjsBody* ParseUsdPhysicsRigidbody(
body->element, kUsdPrimPathKey, usd_primpath, body->element, kUsdPrimPathKey, usd_primpath,
[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); }); [](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
ParseUsdFilteredPairsAPI(spec, prim); if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
ParseUsdFilteredPairsAPI(spec, prim);
}
return body; return body;
} }