Sam Haves
3473e4e451
PiperOrigin-RevId: 781945497 Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
124 lines
3.7 KiB
C++
124 lines
3.7 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/types.h>
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#include <pxr/usd/usd/schemaRegistry.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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// Register the schema with the TfType system.
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TF_REGISTRY_FUNCTION(TfType) {
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TfType::Define<MjcPhysicsSiteAPI, TfType::Bases<UsdAPISchemaBase> >();
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}
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/* virtual */
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MjcPhysicsSiteAPI::~MjcPhysicsSiteAPI() {}
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/* static */
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MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Get(const UsdStagePtr &stage,
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const SdfPath &path) {
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if (!stage) {
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TF_CODING_ERROR("Invalid stage");
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return MjcPhysicsSiteAPI();
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}
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return MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
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}
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/* virtual */
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UsdSchemaKind MjcPhysicsSiteAPI::_GetSchemaKind() const {
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return MjcPhysicsSiteAPI::schemaKind;
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}
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/* static */
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bool MjcPhysicsSiteAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
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return prim.CanApplyAPI<MjcPhysicsSiteAPI>(whyNot);
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}
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/* static */
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MjcPhysicsSiteAPI MjcPhysicsSiteAPI::Apply(const UsdPrim &prim) {
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if (prim.ApplyAPI<MjcPhysicsSiteAPI>()) {
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return MjcPhysicsSiteAPI(prim);
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}
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return MjcPhysicsSiteAPI();
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}
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/* static */
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const TfType &MjcPhysicsSiteAPI::_GetStaticTfType() {
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static TfType tfType = TfType::Find<MjcPhysicsSiteAPI>();
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return tfType;
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}
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/* static */
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bool MjcPhysicsSiteAPI::_IsTypedSchema() {
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static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
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return isTyped;
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}
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/* virtual */
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const TfType &MjcPhysicsSiteAPI::_GetTfType() const {
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return _GetStaticTfType();
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}
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UsdAttribute MjcPhysicsSiteAPI::GetGroupAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
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}
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UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const &defaultValue,
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bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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namespace {
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static inline TfTokenVector _ConcatenateAttributeNames(
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const TfTokenVector &left, const TfTokenVector &right) {
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TfTokenVector result;
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result.reserve(left.size() + right.size());
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result.insert(result.end(), left.begin(), left.end());
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result.insert(result.end(), right.begin(), right.end());
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return result;
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}
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} // namespace
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/*static*/
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const TfTokenVector &MjcPhysicsSiteAPI::GetSchemaAttributeNames(
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bool includeInherited) {
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static TfTokenVector localNames = {
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MjcPhysicsTokens->mjcGroup,
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};
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static TfTokenVector allNames = _ConcatenateAttributeNames(
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UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
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if (includeInherited)
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return allNames;
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else
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return localNames;
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}
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PXR_NAMESPACE_CLOSE_SCOPE
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// ===================================================================== //
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// Feel free to add custom code below this line. It will be preserved by
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// the code generator.
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//
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// Just remember to wrap code in the appropriate delimiters:
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// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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