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Account for scale authored on UsdMesh prims.

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PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
This commit is contained in:
Sam Haves
2025-07-17 10:28:28 -07:00
committed by Copybara-Service
parent c597434fc9
commit e92ce30732
1 changed files with 9 additions and 3 deletions
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src/experimental/usd/usd_to_mjspec.cc
+9 -3
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@@ -264,7 +264,7 @@ bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
return true; return true;
} }
mjsMesh* ParseUsdMesh(mjSpec* spec, const pxr::UsdPrim& prim, mjsGeom* geom) { mjsMesh* ParseUsdMesh(mjSpec* spec, const pxr::UsdPrim& prim, mjsGeom* geom, pxr::UsdGeomXformCache& xform_cache) {
if (!prim.IsA<pxr::UsdGeomMesh>()) { if (!prim.IsA<pxr::UsdGeomMesh>()) {
return nullptr; return nullptr;
} }
@@ -305,6 +305,12 @@ mjsMesh* ParseUsdMesh(mjSpec* spec, const pxr::UsdPrim& prim, mjsGeom* geom) {
mjsMesh* mesh = mjs_addMesh(spec, nullptr); mjsMesh* mesh = mjs_addMesh(spec, nullptr);
auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
auto scale = GetScale(world_xform);
mesh->scale[0] = scale[0];
mesh->scale[1] = scale[1];
mesh->scale[2] = scale[2];
std::string mesh_name = usd_mesh.GetPath().GetAsString(); std::string mesh_name = usd_mesh.GetPath().GetAsString();
mjs_setName(mesh->element, mesh_name.c_str()); mjs_setName(mesh->element, mesh_name.c_str());
mjs_setFloat(mesh->uservert, uservert.data(), uservert.size()); mjs_setFloat(mesh->uservert, uservert.data(), uservert.size());
@@ -1265,7 +1271,7 @@ 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); ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
} }
} }
@@ -1318,7 +1324,7 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
SetLocalPoseFromPrim(prim, body_prim, geom, caches.xform_cache); SetLocalPoseFromPrim(prim, body_prim, geom, caches.xform_cache);
if (!MaybeParseGeomPrimitive(prim, geom, caches.xform_cache)) { if (!MaybeParseGeomPrimitive(prim, geom, caches.xform_cache)) {
mjsMesh* mesh = ParseUsdMesh(spec, prim, geom); mjsMesh* mesh = ParseUsdMesh(spec, prim, geom, caches.xform_cache);
if (mesh != nullptr && prim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) { if (mesh != nullptr && prim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
ParseMjcPhysicsMeshCollisionAPI(mesh, ParseMjcPhysicsMeshCollisionAPI(mesh,
pxr::MjcPhysicsMeshCollisionAPI(prim)); pxr::MjcPhysicsMeshCollisionAPI(prim));