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

Remove usage of usdImaging tokens to avoid needing to build imaging.

Browse Source 
PiperOrigin-RevId: 844768270
Change-Id: Iba0a03646e56d9be5accf754f97ec37db8055425
This commit is contained in:
Sam Haves
2025-12-15 07:43:27 -08:00
committed by Copybara-Service
parent 52ca07e210
commit eef71832db
4 changed files with 7 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/CMakeLists.txt
+1 -2
View File
@@ -22,7 +22,7 @@ set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
# Common OpenUSD libraries # Common OpenUSD libraries
set(OPENUSD_CORE_LIBS set(OPENUSD_CORE_LIBS
usd ar kind tf gf vt usdShade usdLux usdGeom usdImaging usdPhysics usd ar kind tf gf vt usdShade usdLux usdGeom usdPhysics
) )
# We need to set the visibility to default until core type symbol visibility # We need to set the visibility to default until core type symbol visibility
@@ -82,7 +82,6 @@ function(configure_houdini_target target_name link_scope include_scope)
${PXR_LIB_PREFIX}usdShade ${PXR_LIB_PREFIX}usdShade
${PXR_LIB_PREFIX}usdLux ${PXR_LIB_PREFIX}usdLux
${PXR_LIB_PREFIX}usdGeom ${PXR_LIB_PREFIX}usdGeom
${PXR_LIB_PREFIX}usdImaging
${PXR_LIB_PREFIX}usdPhysics ${PXR_LIB_PREFIX}usdPhysics
tbb tbb
hboost_${USD_MJCF_PYTHON_LIB_NUMBER} hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+6 -4
View File
@@ -66,7 +66,6 @@
#include <pxr/usd/usdPhysics/sphericalJoint.h> #include <pxr/usd/usdPhysics/sphericalJoint.h>
#include <pxr/usd/usdPhysics/tokens.h> #include <pxr/usd/usdPhysics/tokens.h>
#include <pxr/usd/usdShade/tokens.h> #include <pxr/usd/usdShade/tokens.h>
#include <pxr/usdImaging/usdImaging/tokens.h>
namespace { namespace {
@@ -117,6 +116,9 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
((sourceMesh, pxr::UsdGeomTokens->Mesh)) ((sourceMesh, pxr::UsdGeomTokens->Mesh))
((inputsNormal, "inputs:normal")) ((inputsNormal, "inputs:normal"))
((joint, "Joint")) ((joint, "Joint"))
(UsdPrimvarReader_float2)
(UsdUVTexture)
(UsdPreviewSurface)
); );
// Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS. // Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
@@ -775,7 +777,7 @@ class ModelWriter {
layer_, uvmap_shader_spec, pxr::UsdShadeTokens->infoId, layer_, uvmap_shader_spec, pxr::UsdShadeTokens->infoId,
pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform); pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
SetAttributeDefault(layer_, uvmap_info_id_attr, SetAttributeDefault(layer_, uvmap_info_id_attr,
pxr::UsdImagingTokens->UsdPrimvarReader_float2); kTokens->UsdPrimvarReader_float2);
auto uvmap_varname_attr = auto uvmap_varname_attr =
CreateAttributeSpec(layer_, uvmap_shader_spec, kTokens->inputsVarname, CreateAttributeSpec(layer_, uvmap_shader_spec, kTokens->inputsVarname,
@@ -800,7 +802,7 @@ class ModelWriter {
layer_, texture_shader_spec, pxr::UsdShadeTokens->infoId, layer_, texture_shader_spec, pxr::UsdShadeTokens->infoId,
pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform); pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
SetAttributeDefault(layer_, texture_info_id_attr, SetAttributeDefault(layer_, texture_info_id_attr,
pxr::UsdImagingTokens->UsdUVTexture); kTokens->UsdUVTexture);
auto texture_file_attr = auto texture_file_attr =
CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsFile, CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsFile,
@@ -899,7 +901,7 @@ class ModelWriter {
layer_, preview_surface_shader_spec, pxr::UsdShadeTokens->infoId, layer_, preview_surface_shader_spec, pxr::UsdShadeTokens->infoId,
pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform); pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
SetAttributeDefault(layer_, info_id_attr, SetAttributeDefault(layer_, info_id_attr,
pxr::UsdImagingTokens->UsdPreviewSurface); kTokens->UsdPreviewSurface);
// Connect material's surface output to the preview surface's surface // Connect material's surface output to the preview surface's surface
// output. // output.
src/experimental/usd/plugins/mjcf/utils.h
-1
View File
@@ -16,7 +16,6 @@
#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_ #define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
#include <pxr/base/tf/token.h> #include <pxr/base/tf/token.h>
#include <pxr/imaging/hd/primTypeIndex.h>
#include <pxr/usd/sdf/attributeSpec.h> #include <pxr/usd/sdf/attributeSpec.h>
#include <pxr/usd/sdf/declareHandles.h> #include <pxr/usd/sdf/declareHandles.h>
#include <pxr/usd/sdf/layer.h> #include <pxr/usd/sdf/layer.h>
test/experimental/usd/plugins/mjcf/CMakeLists.txt
-1
View File
@@ -16,7 +16,6 @@ mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES
usd usd
tf tf
usdGeom usdGeom
usdImaging
usdPhysics usdPhysics
usdShade usdShade
usd_test_utils usd_test_utils