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Merge pull request #3129 from LouRohanNV:UsdContactExcludes

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PiperOrigin-RevId: 879028113
Change-Id: I8798761bf40a8e60ef9aba83337bcabd96813cb9
This commit is contained in:
Copybara-Service
2026-03-05 06:15:59 -08:00
parent 45c7376ab4 e895820e24
commit fce504beea
1 changed files with 15 additions and 0 deletions
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plugin/usd_decoder/usd_decoder.cc
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@@ -67,6 +67,7 @@
#include <pxr/usd/usdGeom/tokens.h> #include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdGeom/xformCache.h> #include <pxr/usd/usdGeom/xformCache.h>
#include <pxr/usd/usdPhysics/collisionAPI.h> #include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/filteredPairsAPI.h>
#include <pxr/usd/usdPhysics/fixedJoint.h> #include <pxr/usd/usdPhysics/fixedJoint.h>
#include <pxr/usd/usdPhysics/joint.h> #include <pxr/usd/usdPhysics/joint.h>
#include <pxr/usd/usdPhysics/massAPI.h> #include <pxr/usd/usdPhysics/massAPI.h>
@@ -2247,6 +2248,16 @@ void ParseMjcPhysicsKeyframe(mjSpec* spec,
} }
} }
void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
pxr::SdfPathVector 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());
mjs_setString(exclude->bodyname2, filtered_body.GetAsString().c_str());
}
}
mjsBody* ParseUsdPhysicsRigidbody( mjsBody* ParseUsdPhysicsRigidbody(
mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api, mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api,
const pxr::UsdPrim& parent_prim, mjsBody* parent, const pxr::UsdPrim& parent_prim, mjsBody* parent,
@@ -2267,6 +2278,10 @@ 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); });
if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
ParseUsdFilteredPairsAPI(spec, prim);
}
return body; return body;
} }