Sam Haves
3473e4e451
PiperOrigin-RevId: 781945497 Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
210 lines
7.7 KiB
C++
210 lines
7.7 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
|
|
#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
|
|
|
|
/// \file mjcPhysics/collisionAPI.h
|
|
|
|
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
|
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
|
|
#include <pxr/base/gf/matrix4d.h>
|
|
#include <pxr/base/gf/vec3d.h>
|
|
#include <pxr/base/gf/vec3f.h>
|
|
#include <pxr/base/tf/token.h>
|
|
#include <pxr/base/tf/type.h>
|
|
#include <pxr/base/vt/value.h>
|
|
#include <pxr/pxr.h>
|
|
#include <pxr/usd/usd/apiSchemaBase.h>
|
|
#include <pxr/usd/usd/prim.h>
|
|
#include <pxr/usd/usd/stage.h>
|
|
|
|
PXR_NAMESPACE_OPEN_SCOPE
|
|
|
|
class SdfAssetPath;
|
|
|
|
// -------------------------------------------------------------------------- //
|
|
// MJCCOLLISIONAPI //
|
|
// -------------------------------------------------------------------------- //
|
|
|
|
/// \class MjcPhysicsCollisionAPI
|
|
///
|
|
/// API describing a MuJoCo collider.
|
|
///
|
|
class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
|
|
public:
|
|
/// Compile time constant representing what kind of schema this class is.
|
|
///
|
|
/// \sa UsdSchemaKind
|
|
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
|
|
|
|
/// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
|
|
/// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
|
|
/// for a \em valid \p prim, but will not immediately throw an error for
|
|
/// an invalid \p prim
|
|
explicit MjcPhysicsCollisionAPI(const UsdPrim &prim = UsdPrim())
|
|
: UsdAPISchemaBase(prim) {}
|
|
|
|
/// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
|
|
/// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
|
|
/// as it preserves SchemaBase state.
|
|
explicit MjcPhysicsCollisionAPI(const UsdSchemaBase &schemaObj)
|
|
: UsdAPISchemaBase(schemaObj) {}
|
|
|
|
/// Destructor.
|
|
MJCPHYSICS_API
|
|
virtual ~MjcPhysicsCollisionAPI();
|
|
|
|
/// Return a vector of names of all pre-declared attributes for this schema
|
|
/// class and all its ancestor classes. Does not include attributes that
|
|
/// may be authored by custom/extended methods of the schemas involved.
|
|
MJCPHYSICS_API
|
|
static const TfTokenVector &GetSchemaAttributeNames(
|
|
bool includeInherited = true);
|
|
|
|
/// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
|
|
/// schema at \p path on \p stage. If no prim exists at \p path on
|
|
/// \p stage, or if the prim at that path does not adhere to this schema,
|
|
/// return an invalid schema object. This is shorthand for the following:
|
|
///
|
|
/// \code
|
|
/// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
|
|
/// \endcode
|
|
///
|
|
MJCPHYSICS_API
|
|
static MjcPhysicsCollisionAPI Get(const UsdStagePtr &stage,
|
|
const SdfPath &path);
|
|
|
|
/// Returns true if this <b>single-apply</b> API schema can be applied to
|
|
/// the given \p prim. If this schema can not be a applied to the prim,
|
|
/// this returns false and, if provided, populates \p whyNot with the
|
|
/// reason it can not be applied.
|
|
///
|
|
/// Note that if CanApply returns false, that does not necessarily imply
|
|
/// that calling Apply will fail. Callers are expected to call CanApply
|
|
/// before calling Apply if they want to ensure that it is valid to
|
|
/// apply a schema.
|
|
///
|
|
/// \sa UsdPrim::GetAppliedSchemas()
|
|
/// \sa UsdPrim::HasAPI()
|
|
/// \sa UsdPrim::CanApplyAPI()
|
|
/// \sa UsdPrim::ApplyAPI()
|
|
/// \sa UsdPrim::RemoveAPI()
|
|
///
|
|
MJCPHYSICS_API
|
|
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
|
|
|
|
/// Applies this <b>single-apply</b> API schema to the given \p prim.
|
|
/// This information is stored by adding "MjcCollisionAPI" to the
|
|
/// token-valued, listOp metadata \em apiSchemas on the prim.
|
|
///
|
|
/// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
|
|
/// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
|
|
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
|
|
/// resulting in failure.
|
|
///
|
|
/// \sa UsdPrim::GetAppliedSchemas()
|
|
/// \sa UsdPrim::HasAPI()
|
|
/// \sa UsdPrim::CanApplyAPI()
|
|
/// \sa UsdPrim::ApplyAPI()
|
|
/// \sa UsdPrim::RemoveAPI()
|
|
///
|
|
MJCPHYSICS_API
|
|
static MjcPhysicsCollisionAPI Apply(const UsdPrim &prim);
|
|
|
|
protected:
|
|
/// Returns the kind of schema this class belongs to.
|
|
///
|
|
/// \sa UsdSchemaKind
|
|
MJCPHYSICS_API
|
|
UsdSchemaKind _GetSchemaKind() const override;
|
|
|
|
private:
|
|
// needs to invoke _GetStaticTfType.
|
|
friend class UsdSchemaRegistry;
|
|
MJCPHYSICS_API
|
|
static const TfType &_GetStaticTfType();
|
|
|
|
static bool _IsTypedSchema();
|
|
|
|
// override SchemaBase virtuals.
|
|
MJCPHYSICS_API
|
|
const TfType &_GetTfType() const override;
|
|
|
|
public:
|
|
// --------------------------------------------------------------------- //
|
|
// GROUP
|
|
// --------------------------------------------------------------------- //
|
|
/// Integer MuJoCo group to which the collider belongs.
|
|
///
|
|
/// | ||
|
|
/// | -- | -- |
|
|
/// | Declaration | `uniform int mjc:group = 0` |
|
|
/// | C++ Type | int |
|
|
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
|
|
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
|
MJCPHYSICS_API
|
|
UsdAttribute GetGroupAttr() const;
|
|
|
|
/// See GetGroupAttr(), and also
|
|
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
|
/// If specified, author \p defaultValue as the attribute's default,
|
|
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
|
/// the default for \p writeSparsely is \c false.
|
|
MJCPHYSICS_API
|
|
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
|
|
bool writeSparsely = false) const;
|
|
|
|
public:
|
|
// --------------------------------------------------------------------- //
|
|
// SHELLINERTIA
|
|
// --------------------------------------------------------------------- //
|
|
/// Enables handling of the inertia assuming mass is concentrated on the
|
|
/// surface.
|
|
///
|
|
/// | ||
|
|
/// | -- | -- |
|
|
/// | Declaration | `uniform bool mjc:shellinertia = 0` |
|
|
/// | C++ Type | bool |
|
|
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
|
|
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
|
MJCPHYSICS_API
|
|
UsdAttribute GetShellInertiaAttr() const;
|
|
|
|
/// See GetShellInertiaAttr(), and also
|
|
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
|
/// If specified, author \p defaultValue as the attribute's default,
|
|
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
|
/// the default for \p writeSparsely is \c false.
|
|
MJCPHYSICS_API
|
|
UsdAttribute CreateShellInertiaAttr(VtValue const &defaultValue = VtValue(),
|
|
bool writeSparsely = false) const;
|
|
|
|
public:
|
|
// ===================================================================== //
|
|
// Feel free to add custom code below this line, it will be preserved by
|
|
// the code generator.
|
|
//
|
|
// Just remember to:
|
|
// - Close the class declaration with };
|
|
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
|
|
// - Close the include guard with #endif
|
|
// ===================================================================== //
|
|
// --(BEGIN CUSTOM CODE)--
|
|
};
|
|
|
|
PXR_NAMESPACE_CLOSE_SCOPE
|
|
|
|
#endif
|